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An optimization algorithm for hybrid control of robot force/position

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DOI: 10.23977/acsat.2017.1009


Sun Haibo, Zhang Qiuhao

Corresponding Author

Haibo Sun


Through the research of robot system of hybrid force/position control for the robot, In view of the robot in contact with the environment, Force control in a certain direction, the position deviation in the direction is ignored.Therefore, when the robot position control, the equivalent of redundant robots. In this paper, a method is proposed to optimize the force of the zero space vector of redundant robot in Cartesian space.Finally, the experimental verification.


hybrid force / position control, redundant robot, zero space vector

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