Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators

It is necessary to control both the position of a manipulator and the force when a robot manipulator interacts with the environment. In this paper, a simple compliant motion control algorithm for parallel robot manipulators is presented. Based on the concept of hybrid position/force control scheme, the task space is split into position controlled and force controlled subspaces. We designed two controllers for position and force control to track the desired position trajectories and force in operational space. Experimental results obtained from a two degree of freedom parallel robot show and verify the effectiveness of the control method.