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Fig. 7 | BioMedical Engineering OnLine

Fig. 7

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

Fig. 7

The control block diagram of the force-position hybrid control with force-moment control (FPHFM). Force-position hybrid control with force-moment control (FPHFM) proposed for industrial robots with 6-component force sensors (UFS) attached at the effector and controlled under position commands. For the targeted position x*(n) and force f*(n) at the nth increment, the FPHFM controller switches between FPH and force control. In other words, for one control iteration the position difference between x*(n) and the real position x(n) (fed back from the robot) and the force difference between f*(n) and the real force f(n) (fed back from the UFS) are used as in FPH, and for the next iteration the force difference between f*(n) and the real force f(n) will be used as in pure force control. The input for the FPH and the input for the force control is controlled by the SW

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