Sufficient stability condition for hybrid position/force control

Active force-torque robot control without using wrist force-torque sensors

“…(1.25) 2 Hereinafter, the upper index "T" denotes the matrix transposition. where the sign "-" above W, W T indicates that the argument in the elements of these matrices is replace by .…”

“…The conventional approach to the solution of this problem is based on the application of the information on the current values of the vector of reaction forces generated by constraints as the feed back. The main forms of the control laws are: the stiffness control, the explicit force control, the hybrid position force control, the impedance control [1][2][3][4]. The main terms of the control laws corresponding to these methods are given in the Table. In these laws and denote the 6 × 6 matrix of gripper position amplification and the matrix of arti ficial stiffness, G d , G are the vectors of desirable and current values of constraint reactions, and and are the vectors of desirable and current positions of the working tool of the manipulator.…”

“…At present, a large number of interesting and various methods for compliant motion control are known (see, e.g., [1][2][3][4][5][6][7]). Unfortunately, the application of these methods in industry did not yield expected results.…”

Iterative learning in variable structure position/force hybrid control of manipulators

“…The first work on hybrid position/force control of robot manipulators was due to Raibert and Craig 7 . Since then several researchers [8][9][10][11][12][13][14][15][16] increased the performance of their algorithm and studied the stability behaviour over all the workspace, including singular points neighbourhood.…”