Hybrid Force/Position Control Of Six DOF Mechanical Arm

With the continuous expansion of the robot application fields and the continuous improvement of the intelligent robot requirements,traditional robot position controls can not meet the control requirements when the robot is in contact with the environment or the operating object.The force/position control of the robot must track the contact force and the desired position at the same time.The hybrid control of robot have become a hot topic in the robot control research.Firstly,this paper takes the mechanical arm as the research object and introduces the methods of the forward kinematics,dynamics,redundant robots and the hybrid force/position control of the manipulator.Secondly,this paper introduces the collision force between the manipulator and the environment,gives the switching control methods and presents a method to compensate the deformations of the rigid body.Finally,a hybrid force/position control algorithm for six degrees of freedom manipulator based on zero space vector is proposed.The redundancy of the manipulator end is used to solve the joint angular velocity.The paper sets up the optimization performance index to optimize the force control and uses the MATLAB simulation software to analyze the robot force/position hybrid tracking control based on the PUMA560 industrial robot.The feasibility of the control method is proved.