Control of position, attitude, force and moment of 6-DOF manipulator by impedance control

In this laboratory, we proposed hybrid control of position, attitude, force and moment which is direct force control. This is a control that extracts the control of attitude and moment from the conventional position and force hybrid control, and it was confirmed that it is effective for surface contacting work. However, in this hybrid control of position, attitude, force and moment, the control input is a torque command to the joint of the robot, so it lacked versatility for industrial robots which can receive only the position command of the robot hand. In this paper, considering versatility for industrial robots, we proposed control of position, attitude, force and moment by Impedanc-control based on position control of robot hand. Furthermore using the proposed method of this study, simulation was performed on MATLAB / Simulink to automatically match the face of the hand of the PUMA type six degree of freedom robot arm with the wall whose slope is unknown. Based on the results we clarified the effectiveness of our proposed method.