Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.
A model-reference impedance control of robot manipulators using an adaptive fuzzy uncertainty estimator