Combined position & force control for a robotic manipulator

Joris Sijs*, Freek Liefhebber, Gert Willem R.B.E. Römer

*Corresponding author for this work

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

18 Citations (Scopus)


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 publication2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Number of pages6
Publication statusPublished - 1 Dec 2007
Externally publishedYes
EventIEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007: Robots care! - Noordwijk, Netherlands
Duration: 13 Jun 200715 Jun 2007
Conference number: 10


ConferenceIEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007
Abbreviated titleICORR


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