Force Control for Position Interface Industrial Manipulator Working in Unknown Inclined Plane

The uses of industrial manipulators have increased rapidly, and they are more preferable in many applications. Most industrial manipulators are position-controlled; usually the vision and force sensors are not integrated in most commercial industrial robots. Therefore, adding force and vision sensing is needed to successfully automate advanced tasks. In this paper, an optical tracking device and a force-torque sensor were integrated in a position-controlled SCARA manipulator to operate in unknown inclined planes. The experimental results of the integration are tested using an admittance controller. The results show the capability of the presented controller to successfully monitor the interaction force while tracking the position of a passive marker moved by an operator.