Force/Position Control with Application to PUMA 760 Sawing

The design and implementation of a PUMA 760 Sawing control system is pres-ented in this paper.We introduce the wrist force sensor signals into the controllerof a PUMA 760 robot and add a force control algorithm to the control system.Theinteraction force between the end effector and the environment object is controlledby adjusting the position,of the robot.Some new instructions are added to the VALsystem that can be used to control the interaction force between the saw and a work-piece and to control the position of the robot simultaneously.By programing with theextended VAL system,we have succeeded in making PUMA 760 saw up a metal stickor a wood stick.