Abstract
Abstract In this paper robot force control experiments in non-rigid environments are presented. The force control algorithms implemented in real-time are an impedance based control scheme with force tracking capability and a hybrid force/position control algorithm. A two-degree-of-freedom planar manipulator and a non-rigid contact surface were constructed for purposes of control evaluation. A low cost PC-based real-time software architecture was developed to fully control the robotic setup. The obtained results for a given force/position task reveal the successful implementation of the force control algorithms in real-time, especially for the impedance controller with force tracking.
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