A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

This paper proposes a robust hybrid position/force control (HPFC) system for multi-degree of freedom manipulators (MDoFMs) with torque constraints on each joint. General HPFC systems can the interactive contact forces and positions in various environments. In systems, to improve performance MDoFMs, motor saturation should be considered. Thus, that considers by predictive functional (PFC) is proposed this paper. The method simultaneously handles response characteristics actuators using PFC as joint space position controllers. Additionally, robustness against external enhanced, model parameter errors are compensated disturbance observer technique. Moreover, implicit force law inverse kinematics introduced workspace implement Consequently, stability considered, suitable performed even if saturated. validity tested three planar manipulator joints uniaxial sensor.