Abstract
This work presents a new robust control methodology for hybrid position/force control. The control input of this methodology consists of a nonlinear and a linear part. The nonlinear control part gives a new coordinate system. Using this coordinate system. robot dynamics is decoupled and input spaces are divided into two orthogonal spaces of position and force control. The linear control part improves robustness properties of the nonlinear hybrid control scheme. A model feedback control scheme is applied to the linear part or position control and integral control is used in the linear part of force control. The robustness properties of the nonlinear robust hybrid control algorithm are demonstrated through simulation of a constrained two degrees of freedom robot manipulator.
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