Stability analysis of 6-DOF force/position control for robot manipulators

In this paper we propose a force/position control scheme in a 6-DOF task space which is a generalization of the parallel control scheme in a 3-DOF task space. The controller consists of a PD action on the position loop, a PI action on the force loop together with gravity compensation and feedforward of the desired contact force. Kinestatic filtering is not used in the scheme. Euler parameters are adopted to describe end-effector orientation. The model of interaction wrench (force and moment) is formulated with a generalized spring. Stability of the proposed scheme is established through the Lyapunov method.<
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