Parallel Force and Position Control with the aid of Variable Impedance Model in Robot Manipulators
Keywords:
Impedance control, interaction control,parallel force/position control, variable impedance model.
Abstract:
In this paper a new optimal approach to parallelforce-position control of robot manipulator is presented. Parallel control may be needed in situation where we areinterest to control end-effector position and forcesimultaneously. The common impedance model is modified toable the controller to track force trajectory in addition toposition tracking. The impedance parameters are varied withrespect to a cost function such that the sum of position andforce squared error is minimized. A new feature of proposedscheme is that accuracy of force or position trajectory trackingcan be determined by a weighting constant parameter in costfunction. The scheme is really efficient and is able tosummarize the properties of impedance control and hybridforce-motion control. Simulation study carried to verify theproposed scheme.