Abstract:

A novel intelligent strategy of force control for robot based on the theory of Large Scale System is presented for the first time. A hybrid kinematic model of force and position parallel loop, one of the key problems about the large scale system for robot′s force control, is given in detail. In the task coordinate, the axes for position control and the axes for force control are orthogonal. The equation, by which dynamic tangent to an unknown surface during motion is determined under the consideration of friction, has precisely been derived from forces and torque of wrist force/torque sensor. By means of it, some experimental researches about tracking bulb have been implemented in an AdeptThree robot manipulator. The results have proved that hybrid kinematic analyses of force and position parallel loop are effective and feasible.

Key words: force control, robotics, intelligent control