Analysis and design of hybrid position/force control of robotic arm

This paper presents the optimum design method for the hybrid position/force controller of robotic arms. Linearized mathematical expression of the controlled manipulator is given, where the hand is constrained its motion along a frictionless plane and the contact force is generated as if there were an elastic spring between the hand and the wall. It is shown that the model can be expressed in state equation by choosing the position and force as state variables for nonredundant arms. This fact makes it possible to realize hybrid control architecture by linear feedback of state variables. >