Force Sensorless Hybrid Position/Force Control with Equivalent Mass Matrices Switching for Decoupled Rubbing Motion

This paper presents a force sensorless workspace hybrid position/force control method with equivalent mass matrices switching for rubbing motion. The express an interference between axes. Since the determinant of matrix computed from design values robots becomes near zero around singular configuration robots, utilized are often arbitrarily designed. However, inappropriate conditions deteriorate performance and could cause vibration during study reveals suitable motion depending on velocity Moreover, controller expected axes in tasks is proposed. validity proposed demonstrated by experimental response parallel link type direct-drive four-link manipulator.