Theory and Application of Extension Hybrid Force-position Control in Robotics

The paper presents advanced method for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying an “Extension Set”. Starting from the extension distance defined by Prof. Cai Wen, the founder of Extenics, there are determined the 2D space dependent function on position and force in relation to standard positive field on position respective on force. The generalization of the extension distance and dependent function using Extenics Multidimensional Theory eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Thus was developed an optimization method for hybrid position-force control which ensures positioning precision and robot motion stability on rough terrain.