A hybrid position/force control for robot manipulators with position controllers

A new hybrid position/force control scheme over a position control scheme is proposed. The control scheme modifies the position command for force control against the constraint surface of the environment and is very easily designed and implemented. The merits of the control scheme are that it can cope with a change of constraint conditions and a small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on the controlled force