Abstract
This paper presents a model of force interaction between the two-arm robot and a load handled by the robot. The model is applied to dual force-position control of a two-arm robot. Since position control and force control are closely interrelated, the design and implementation of such a hybrid (force + position) control system is a comlex task. When two-arm manipulators are used to handle objects, a force control system has to be employed in order to protect the body from slippage out of grasp. The force control works simultaneously with a position control.A multi-level adaptive control system based on a reference model is presented in this paper. A simulation study has been performed to evaluate the performance of the proposed control scheme.
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