An hybrid controller for a SCARA robot: Analysis and simulation

The authors present a hybrid controller that allows simultaneous force tracking in constrained directions and position tracking in unconstrained directions. The controller is an extension of a well-known adaptive position control scheme that exhibits remarkable performance in joint space. The hybrid controller is obtained by adding a commonly used force controller to the Cartesian space version of the adaptive position tracking controller. Analysis and simulation are used to evaluate the hybrid controller´s ability to execute trajectories using force and position feedback. The application robot is a four-degree-of-freedom SCARA