Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization
The hardware control system of the 5-UPS/PRPU PMT (parallel machine tool) with redundant actuation was reconstructed to realize its hybrid force/position control, which was based on the primary “IPC+PMAC motion controller” system mode. Meanwhile, more perfect open type PMT control platform was constructed. Visual Basic language was used to realize the force servo control of the redundant limb and the relevant experiment was completed in the primary CNC system, combining with the PAMC motion controller library function. The results show that the force servo control strategy is exact and the newly designed hardware control system is effective, these results also provide feasible hardware basis and control method to realize the hybrid force/position control.
H. T. Tang et al., "Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization", Advanced Materials Research, Vols. 317-319, pp. 685-689, 2011