AN IJC BASED FORCE-POSITION CONTROL OF A ROBOT ARM

An Independent Joint Control based force-position control strategy of industrial manipulators involved in a controlled sliding of the end effector on a plane surface is presented in this paper. The force control design model relies on a stiff contact model of the interaction, thus avoiding the need for (fictitious) contact stiffness parameters. The dynamic performances of the proposed control schemes have been tested by simulation, with reference to the industrial robot DEXTER.