Author(s)

Sun Haibo, Zhang Qiuhao

Corresponding Author

Haibo Sun

ABSTRACT

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.

KEYWORDS

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