Position/force control of a manipulator by using an algebraic relation and evaluations by experiments

On the basis of a analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Simulations and real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.