The Combined Force/Position Control Systems for 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 dynamically accurate control of both the position of robot’s end-effector and the force (may be variable) exerted by end-effector on surfaces (object of work) along which it moves. The results of simulation of the manipulator with 3 degrees of freedom 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.