A cascaded-based hybrid position-force control for robot manipulators with nonnegligible dynamics

This work addresses the hybrid position-force control problem for robot manipulators performing inter-action tasks on constraint surfaces with regular curvature. A novel hybrid control law, based on an orientation-dependent term, is proposed to circumvent the performance degradation owing to modeling uncertainty, particularly with respect to the geometry of the constraint surface. As in our previous work, the effect of the robot dynamics can be included by using a cascade control strategy. In contrast, instead of only position, the presented approach provides complete robot posture control. Simulation results illustrate the performance and feasibility of the proposed control scheme.