Combined position & force control of a robotic manipulator

J. Sijs, F. Liefhebber, G.W.R.B.E. Römer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

18 Citations (Scopus)
644 Downloads (Pure)


The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.
Original languageEnglish
Title of host publicationProceeding of the 10th IEEE International Conference on Rehabilitation Robotics (ICORR ‘07), June 13-15 2012, Noordwijk, The Netherlands
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4244-1320-1
Publication statusPublished - 2007
Eventconference; ICORR 07 -
Duration: 1 Jan 2007 → …


Conferenceconference; ICORR 07
Period1/01/07 → …
OtherICORR 07


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