Skip to main content
Fig. 2 | BioMedical Engineering OnLine

Fig. 2

From: Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system

Fig. 2

The 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(n1) (fed back from the robot) and the residual constraining forces and moments f(n1) (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 increment

Back to article page