METHOD AND DEVICE FOR THE EXTENDED HYBRID FORCE-POSITION CONTROL OF ROBOTIC AND MECHATRONIC SYSTEMS

摘要

The invention relates to a method and device for the extended hybrid force-position control of the movement of robotic and mechatronic systems. The claimed method consists of a first stage with offline functioning where there is defined a position and force error discourse universe U, followed by other six stages, with real time functioning where there is determined the position and force extended distance after which there is determined the dependence function K for both the position and force signals, there is obtained a selection matrix with correlation coefficients for position and force, after which there is continued the hybrid force-position control for determining the position and force error signals, the error signals are processed, and in the last stage, the position and force signals are transmitted by means of some transducers mounted on a robotic and mechatronic system. The claimed device comprises some modules for calculating the position extended distance () and the force extended distance (), some modules for calculating the dependence functions for position () and force (), some modules for position () and force () extended transformation, some modules for calculating the position error () and force error (), an intelligent module for processing the error (), a robotic and mechatronic system () and a Cartesian coordinate calculation module ().