Seyed Abdolreza Fatemi - Tarbiat Modares University
Vahid Johari Majd - Tarbiat Modares University
Mohammad Reza Ebrahimpour - Tarbiat Modares University

In this paper a new optimal approach to parallel force-position control of robot manipulator is presented. Parallel control may be needed in situation where we areinterest to control end-effector position and force simultaneously. The common impedance model is modified to able the controller to track force trajectory in addition toposition tracking. The impedance parameters are varied with respect to a cost function such that the sum of position andforce squared error is minimized. A new feature of proposed scheme is that accuracy of force or position trajectory tracking can be determined by a weighting constant parameter in costfunction. The scheme is really efficient and is able to summarize the properties of impedance control and hybridforce-motion control. Simulation study carried to verify the proposed scheme

Impedance control, interaction control, parallel force/position control, variable impedance model