Abstract
Virtual decomposition control is applied to control a KUKA 361 six-joint industrial robot performing hybrid tasks with a rigid unilateral constraint. In order to accommodate motion/force control, the required velocity is re-designed by introducing filtered contact forces in full control dimensions, which makes the controlled robot behave as hybrid controlled for a known contact geometry and impedance controlled for an unknown contact geometry. The real-time experiments demonstrate bouncing-free smooth rigid contact control and asymptotic force tracking results.
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