A New Approach for the Formulation of the Admittance and Hybrid Position/Force Control Schemes for Industrial Manipulators

This paper briefly discusses two of the well-known position/force control schemes used for industrial manipulators: Admittance Control and Hybrid Position/Force Control. In order to eliminate the instability problem that may occur in the customary versions of these schemes for large position errors, a modification is proposed, which is based on determining the joint-space position errors using inverse kinematic solutions rather than using the inverse Jacobian matrix. The feasibility of this modification relies on the fact that almost all of the industrial manipulators have easily obtainable inverse kinematic solutions. The simulation results showing the performance of the modified control schemes are also presented as applied on a Puma 560 manipulator.