Hybrid velocity/force control of manipulators using PID controller and feedforward compensation

An effort has been made to use PID control technique and feedforward compensation to control robotic manipulators under a combined task of velocity and force. This approach is based on the assumption that the task configuration is homogeneous. However, the proposed scheme is still applicable for a nonhomogeneous task configuration with frictional forces being the only nonhomogeneous constraints. The controller proposed is applied to a planar 3R manipulator to demonstrate system responses and simulation results