Hybrid force/position control of robotic drilling system

This paper presents the design steps and implementation results of a hybrid force/position control of the arm. The HFP control is based on a Proportional-Derivative Controller combined with feed-forward position control and multi-stage Infinite Impulse Response (IIR) filter in the joint space position control loop. In the outer loop, a resolved-velocity force control scheme is used. The performance of system is tested experimentally on CRS robot arm with Kflop based controller. The results obtained in terms of motion error and force control show that the proposed system can be efficiently used for critical robot drilling applications such as robot assisted orthopedic surgical procedures.