Computer simulation of compliant motion control for a robotic arm

A hybrid position force control scheme was used to simulate the control of a two-degree-of-freedom robotic arm. The contact force between the end-effector and a surface was controlled while the end-effector moved parallel to the surface under position control. The end-effector was modeled as having passive compliance. Five simulations were performed using different levels of random noise in the force feedback loop. Stability was achieved and significant force control was maintained, despite high levels of noise in the force feedback