Position and force control of a one-DOF manipulator with impedance control and an extended method for changing control mode based on position and force errors

摘要

The present paper describes a position and force control method of a One-DOF manipulator coming in contact with its environment. The control method is based on impedance control and an extended method for changing control mode based on position and force errors. By using this method, it is possible to change between position and force control automatically. We show some experimental results with a variety of the stiffness of the environment to verify the effectiveness of the proposed method.