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The role of robots is getting important in engineering.
Industrial robots have gained a very wide popularity as
essential components for the realization of automated
manufacturing systems. Lots jobs assigned to robot demand a
dynamic interaction , so called constrained motion, with the
environment. To effectively operate a robotic manipulator, the
interacting force between the robot and the environment should
be accommodated rather than rejected. A robust
force/position controller of a robotics manipulator without
estimating the environment stiffness is proposed in this thesis.
The constrained behavior has been analyzed to make some suitable
assumptions of environment model and contact conditions. The
presented control scheme without reaching phase is able to
achieve excellent position and force with unknown environment
stiffness. This controller is laconic and easy to implement.
Simulation results are included to demonstrate the success of
the proposed controller.
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