Coordinated hybrid force/position control for robot with three branches

This paper presents a coordinated hybrid force/position control method for robot with three branches (two arms and a coupled torso). To design the control system, the dynamic model of the robot is established. Then based on the dynamic model, a control algorithm which considers both the motion and the internal force of the manipulated object is proposed. The algorithm views the object as part of the end link of the arms, and adopts master-slave control method to transfer the control of the object to the synchronous control of the arms and torso. Finally, a simulation of a robot with a 2-DOF coupled torso and two 7-DOF arms verifies the proposed method.