Adaptive Force/Position Control of Robot Manipulators

In this paper, a new synthesis method of force/position control systems of robot manipulators is proposed. The control systems synthesized on the basis of this method without using force/moment sensors and other additional devices provide simultaneous accurate control of both the position of robot's end-effector and the force (may be variable) exerted by end-effector on some object (or environment). The results of simulation of PUMA manipulator are presented. They confirm efficiency of the proposed method. Realization of synthesised control systems does not have large difficulties. These control systems can be realized with the help of a serial microprocessors.