An experiment in hybrid position/force control of a six DOF revolute manipulator

A hybrid position/force control algorithm was implemented on a PUMA 600 series robot. Multiple processors were used to increase the sampling frequency of the control algorithm. The force control algorithm used the hand Jacobian and hand frame force measurement fingers mounted in a gripper to control the forces and moments applied by the end effector. The position control algorithm used the Lagrange-Euler formulation of the dynamics of the arm to control the joint space trajectory of the arm. The algorithms´ performance was evaluated using a proportional controller for the force control half and a proportional-derivative controller for the position control half. Several programs were written to show various force and position tracking abilities