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| Position/Force Control System Stability of Robotic Manipulators |
| LIU Meihua, CHANG Wensen |
| Dept.of Automatic Control, National Univ of Defence Technology, Changsha |
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Abstract Based on a simple 2-DOF manipulator,we analyse the instability of Raibert andCraig's hybrid position/force controller and develop two methods to stabilize theforce control system:force derivative feedback and position feedback in force com-manded directions.For a general manipulator,we propose an unified position/forcecontroller,the effectiveness of which is demonstrated by simulations.We also givesome important conclusions on force controller design.
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Received: 21 April 1987
Published: 15 May 1988
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