Romansy 14 pp 249-258 | Cite as

How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment

  • Miomir Vukobratovič
  • Yury Ekalo
  • Aleksandar Rodič
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


The major objective of this paper is to preserve the general idea of hybrid position/force control, and to develop concrete control procedure based on assumptions different from those adopted in the traditional hybrid control. Without rejecting the general idea of hybrid control, which had been based on the theoretically unjustified concept of “orthogonal complements”, we showed that the control partition can be based on another principle, which was realized in simultaneous control of the position and force. On the basis of this principle we synthesized in an explicit form the control law involving both position and force feedback loops.


Contact Force Robot Motion Hybrid Control Apply Hybrid Contact Task 


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Miomir Vukobratovič
    • 1
  • Yury Ekalo
    • 2
  • Aleksandar Rodič
    • 1
  1. 1.Robotics LaboratoryMihailo Pupin InstituteBelgradeYugoslavia
  2. 2.Institute of Fine Mechanics and OpticsSt. PetersburgRussia

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