抄録
We propose that a manipulator using a spring that is a simple force-controlled end effector can perform operations, which need a static pressing force. This paper describes simulations and experiments of the hybrid position/force control of a horizontal three-link manipulator with a spring end effector. Tip position of the manipulator is controlled to follow the desired position trajectory along with the wall constraint surface and tip reaction force that is perpendicular to the wall is simultaneously controlled. Force control is performed by joint velocity control method using virtual desired trajectory corresponding to desired force.
