Kinematic hybrid position/force control of a 3-DOF in-parallel actuated manipulator

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-in-hole task about 10 μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for the parallel-link manipulator. Assisted by a human operator, the motion is generated by using force-torque based joystick commands and/or preplanned motion data. In teleoperation mode, the human operator can intervene and superpose corrective motions over the preplanned searching motion.