Fig. 2From: Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing systemThe control block diagram of the force-position hybrid control (FPH). Force-position hybrid control (FPH) for industrial robots with 6-component force sensors (UFS) attached at the effector, and controlled under position commands as proposed by Fujie et al. [17]. It is a stepwise method that for the targeted position x* and force f* at the nth increment (motion step) the controller takes the position x(n−1) (fed back from the robot) and the residual constraining forces and moments f(n−1) (fed back from the UFS) of the previous increment to determine the displacement for the next increment \(\bar{x}(n)\) using a prescribed compliance matrix (C-matrix) [17], aimed at bringing the constraining forces and moments to zero (f*(n)) at the next step. Note that no position or force feedback was used within a step, i.e., no control iterations within the incrementBack to article page