Hybrid Force/Position Control of Robot Manipulators Based on Iterative Learning
基于迭代学习的机械手操作空间力/位置混合控制算法

By analyzing the difficulties of the conventional force/position hybrid control algorithm in applications, this paper presents a new operational space control algorithm of hybrid force/position control based on iterative learning to improve the dynamic force control performance of robot manipulators of contacting with high stiffness environment. The proof of the algorithm convergence is given. Experiments show the validity of the new algorithm. It converges rapidly and can acquire high-precision force/position dynamic control performance of robot manipulators.