SCREW THEORY-BASED ADAPTIVE HYBRID MOTION/FORCE CONTROL FOR ROBOT MANIPULATIORS

In this paper, the robot manipulator dynamic equation in the case of contacting with environments is disposed into two screw equations by using screw theory. Then an adaptive hybrid motion/force controller is given in the case of the model of robot manipulators being unknown. The controller makes use of natural constraints and artificial constraints directly,and makes motions and forces converge their desired values respectively. The simmulation results show that it is effective.