The Hybrid Position and Force Control of Robots with Compliance Function by Open Architecture Systems

摘要

This paper shows a new method for the hybrid position-force control of robots with compliance function on six axis of freedom degrees in system multi-microprocessor in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory of the robot. Related to this there is presented an Open Architecture system for the robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of robot's position in Cartesian coordinates and increased flexibility.