Stability Analyses for Position/Force Hybrid Control of Robot Manipulators (1st Report, Force Control of 1 D.O.F Manipulators with Consideration of Characteristics of Objects)

Abstract

For modern robots to perform advanced assembly tasks in imprecise environments, it is necessary to simultaneously control end-effector motion (position) and active forces. However, it is not easy to control the manipulator, without knowledge of the objects, because the dynamics of the object inevitably comes into the overall feedback control system. In this paper, stbility analyses and experimental implementations for force control of one-degree-of-freedom manipulator are presented with consideration given to object dynamics.