A Hybrid Position/Force Controller for Joint Robots
Shengwen Xie Juan Ren Shengwen Xie Juan Ren
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals—motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be decoupled in some way. In this work, we make use of the smooth and invertible mapping from the joint space to the task space to decouple the two control goals and design ...