Control hybrid force-position for a end effector of

three ngers
Vladimir Prada Jimnez
1,a
, Oscar Fernando Avils Snchez
2,b
,
Mauricio Felipe Mauledoux Monroy
3,c
.
March 1, 2013
1
Mechatronics Engineering Program. Militar Nueva Granada University. Bogot. Colombia.
2
Mechatronics Engineering Program. Militar Nueva Granada University. Bogot. Colombia.
3
Mechatronics Engineering Program. Militar Nueva Granada University. Bogot. Colombia.
a
vladmont@gmail.com,
b
oscar.aviles@unimilitar.edu.co,
c
mauricio.mauledoux@unimilitar.edu.co
Keywords: Control, Dynamics, GDL, Hybrid, Kinematics, Modeling, Position, Robotics, Simula-
tion, Strength.
Abstract. This paper describes the implementation of a hybrid controller to an end effector of three
ngers, each nger with two degrees of freedom (2 DOF). Since the mobility of each phalanx shows
the workspace by nger. Modeling is presented which includes the kinematics and dynamics of
effector and implementation of force-position hybrid controller. Simulations are presented to validate
the behavior of the robot and the controller in Matlab Simulink.
Introduction.
The man has always had interest in research and implementation of machines that will provide solu-
tions to their main need in highlighting the high accuracy tasks, requiring repetitive or force among
others. For this is that in the rst century b.C. Autonomous machine appears it was an artifact with re
and wind created by Ctesibius of Alexandria, Philo of Byzantium, Heron of Alexandria and others.
Then in 1206 shows a boat with four robotic musicians that is the rst programmable humanoid robot
created by Al Jazari. Designs appear humanoid robot Leonardo da Vinci and is crossed by great con-
tributions throughout history until the outstanding achievement of current ASIMO humanoid robot
from Honda Motor Co. Ltd which is able to move from biped form and interact with people. On the
line of industrial robotics includes the installation of the rst industrial robot in 1961 Unimate created
by George Devol, the rst six-axis robot with electromechanical Famulus in 1973 created by KUKA
Robot Group and Universal programmable manipulator arm PUMA in 1975 created by Victo Schein-
man and the Da Vinci robot in 1999 that allows surgeons to perform more complex interventions
using manipulators [13].
1
This research project grew out of a search of the needs found in applications to industrial and medical.
Consulting found that todays engineers and doctors have seen that robots are a tangible solution in
terms of execution time, efciency, quality, accuracy, object manipulation, etc. [4, 5]. But in some
cases these benets are not sufcient for handling objects of different size or weight, or cyclic tasks
requiring speed, avoiding obstacles, with precise movements and with different levels of force. With
so many needs present in our country and with different characteristics was decided to work on the
control both in position and force covering both medical and industrial applications.
These specic problems involve the design and construction of newend effectors and control methods.
Therefore it is desired to control the movement of an effector of three ngers with 2 GDL hybrid
control by force-position. The validation of this work is done through systems of computer-aided
design (CAD), computer aided engineering (CAE), which integrates nite element analysis (FEA),
and Matlab [3, 6].
Modeling with 2 DOF nger-type Rotational Rotational.
The modeling is called an abstract representation, conceptual, graphic, physics, mathematics, systems
to analyze, explain, simulate or control. A model to determine a nal result from a data input. The
model is then performed mathematical and physical type. This model includes a numeric representa-
tion for structured logical aspects and aspects of mathematical science and physical reality played in
a simplied system, a model or prototype that has some bearing on the likely reality modeling. [79].
Figure 1: Articulation RR interconnected with two links.
Morphology of the nger. The morphology of the robot refers to the description of components, parts
and mechanical structure. An effector is composed of a consecutive series of links and joints to form
an open kinematic chain [8]. Each joint or seal is an interconnection between two consecutive links.
In Fig. 1 illustrates an open kinematic chain of each nger. Said kinematic chain is constituted as
follows: the rst articulation serves to form the base, followed by an articulation between connected
2
links. Each joint contributes a degree of freedom and this may produce a rotational movement. The
joints which produce a rotational movement or rotational rotational joints are called R [10].
A link is formed by a rigid bar in this case metal rotor mechanically coupled to the next joint and
coupled to the motor stator. The number of degrees of freedom that the nger has depends of the
number of independent variables position that have to be specied in order to locate all parts of the
mechanism in a workspace.
In the next section shows in detail the modeling workspace and GDL nger 2, which lead to mechan-
ical design and torque values for the motors.
Kinematics. Kinematics is the science that studies the movement of an object without considering
the forces that cause it. This area of science is responsible for studying the position, velocity and
acceleration among others. In direct and inverse kinematics is considered the position and orientation
of the joints of the manipulators in static conditions [8].
To understand the geometry must allocate effector coordinate system to the various parts of the mech-
anism, in particular joints [8, 9]. Any robot kinematics can be described as providing four quantities
values for each link. Two describes the board itself, and two describe the connection of the joint with
an adjacent set. In the case of a joint angle,
i
variable called articulation and the other quantities are
xed parameters of board. For prismatic joints, d
i
articulation is variable and the other quantities are
xed parameters together. The denition of mechanisms through these quantities is a convention that
is generally known as Denavit-Hartenberg notation [9].
Below is a summary of the parameters in terms of the joint coordinate system and a summary of
the procedure for assigning coordinate systems presented together Denavit-Hartenberg notation, it is
necessary to describe the kinematics of the robot:
Summary joints parameters in terms of the coordinate systems in general.
a
i
=the distance of

Z
i
to

Z
(i+1)
measured on

X
i

i
=the angle of

Z
i
to

Z
(i+1)
measured on

X
i
d
i
=the distance of

X
(i1)
to

X
i
measured on

Z
i

i
=the angle of

X
(i1)
to

X
i
measured on

Z
i
For the modeling of the manipulator is necessary coordinate systems to assign each of the joints and
are numbered starting from a stationary base which is called {0} or system reference frame. Describes
the position of all other boards coordinate system in terms of the system. The rst system is movable
body 1 and so on until the free end of the arm [9].
For 2 GDL nger coordinate systems are assigned as follows:
3
Figure 2: Assignments to coordinate axes rotational pairs.
Table 1: Parameters link manipulator
The coordinate system {0} is arbitrary, so that

X
0
is matched to the coordinate system by which the
rotational joint variable is 0. The direction of

X
1
is selected so that it always aligns with

X
0
when

1
= 0 and the origin of the frame 1 is selected so that d
1
= 0. Since the axes of articulation are
parallel to the axes

Z considered pointing out the role, making all
i
are zero. For frame 2,

X
2
aligned
with the rotation axis of the joint 2 and the axis

X
2
with the arm 2 as shown in Fig 2.
D-H parameters are shown in Table 1, and describe the major features of the effector as are the angles
of rotation or rotides (
i
,
i
), the lengths of the arms (a
i
) and the distances between the joints (d
i
).
Forward Kinematics. Direct geometric pattern (DGP) or Forward Kinematics (FK) to determine the
dependency between joints or generalized coordinates, their geometric parameters and the cartesian
coordinates [x, y, z] and orientation [,,] of the last coordinate system or nal end effector with
respect to the two joints. To determine the position of the last frame with respect to the base of the
nger, use the transformation matrix which in general is given in Eq. 1 [8].
i1
i
T =

n(q) s(q) a(q) | p(q)

0 0 0 | 1

(1)
In mathematical form, where
i1
i
T is the transformation matrix of joint i with respect to the joint i 1.
For RR nger is necessary to know the position of the weft end by nding the transformation matrix
0
3
T using matrices
0
1
T ,
1
2
T,
2
3
T.
The transformation matrix
0
3
T shown in Eq. 2:
0
3
T =
0
1
T
1
2
T
2
3
T
0
3
T =

Cos(
1
+
2
) Sen(
1
+
2
) 0 Cos(
1
+
2
)L
2
+Cos(
1
)L
1
Sen(
1
+
2
) Cos(
1
+
2
) 0 Sen(
1
+
2
)L
2
+Sen(
1
)L
1
0 0 1 d
2
0 0 0 1

(2)
4
With the transformation matrix and in particular the translation vector p(q), Determines the robot
work space as they have both the position x and as y the end effector.
Workspace. The workspace is the physical layout of work that covers the end point of each nger ac-
cording to the degree of mobility of each joint. This was calculated from the kinematic characteristic
of each nger. Therefore recursive algorithm is implemented using the Eq. 3 and 4. In order to know
the workspace nger sweeps in the range of each joint with the lengths of the links specied above in
Table 1.
px = cos(
1
+
2
)L
2
+cos(
1
)L
1
(3)
py = sin(
1
+
2
)L
2
+sin(
1
)L
1
(4)
The Fig. 3 shows blue color points of the trajectory that makes the end of the link 1 and the green
area covering the end of the link 2.
Figure 3: Representation workspace nger under kinematic conditions.
Inverse Kinematics. The inverse geometric model (IGM) or Inverse Kinematics (IK) in an area of
robotics is more complex than the forward kinematics. It is always possible to nd direct kinematics
while the inverse kinematics can be various scenarios, for example may have several solutions or have
no analytical solution, if this is the case then it may be proposed numerical methods, iterative, geo-
metric, etc.., As potential forms of solution. Inverse kinematics is a nonlinear problem then relating
the joint coordinates in cartesian coordinates function. For common kinematic congurations, includ-
ing three ngers effector with 2 DOF each one, you can use a geometric method to nd the variables

1
and
2
[7]. In the case of 2 DOF effector determines the value of the joint angle
i
geometrically,
projecting the conguration of the manipulator on plane x, y as shown in Fig. 4 subtracting Eq. 5 and
6. For
2
:
Cos
2
=
P
2
x
+P
2
y
L
2
1
L
2
2
2L
1
L
2
= r
Using the trigonometric identity Cos
2

2
+Sen
2

2
= 1, can see that:
Sen
2
=

1r
2
Then:

2
= Atan(

1r
2
, r) (5)
5
Figure 4: Geometric method in the 2-DOF robot.
It is observed from the equation for
2
have two possible solutions depending on the sign of the radical.
For
1
:

1
= Atan(P
y
, P
x
) Atan(L
2
Sen
2
, L
1
+L
2
Cos
2
) (6)
Figure 5: Possible solutions for a position.
One problem that is presented to solve is the kinematic equations of multiple solutions. A two planar
nger joints can achieve angular position in a workspace elbow calls up or down according to elbow
sign is taken of the equation (5), as shown in Fig. 5.
6
The fact that a nger has multiple solutions may cause problems, since the system has to be able
to choose one. The criteria on which to base a decision vary, but a reasonable choice would be the
closest solution to the endpoint of movement or to dodge an obstacle. We assume that there are no
obstacles in the robots workspace taken if the positive sign indicating that work side down.
Direct Differential Kinematics. The kinematics is directly differential derivative with respect to time
of the direct kinematics.
d
dt
[xyz]
T
=

v
w

=
d
dt
f
R
(q)
where q represents the vector of generalized joint positions effector, are the ultimate orientation
of the robot tool, f
R
is a continuous and differentiable function in the state variable q and [xyz]
T
are
the cartesian coordinates.
d
dt
[xyz]
T
=
f
R
(q)
q
q = J(q) q
As seen, this relates the joint velocity q belongs to R
n
with linear velocity v =
d
dt
[xyz]
T
=
d
dt
[ x y z]
T
belongs to R
3
and the angular velocity w =
d
dt
[]
T
=
d
dt
[

]
T
belongs to R
3
, Also the mapping
is described in terms of a matrix J() =
f
R
(q)
q
belongs to R
6xn
robot called Jacobian or Jacobian
analytical:
J(q) =

J
v
(q)
J
w
(q)

J
v
(q) relates the joint velocity q with the linear velocity v, while J
w
(q) relates the angular speed w
with joint velocity q, namely:

v
w

= J(q) q =

J
v
(q) q
J
w
(q) q

The effector Jacobian represents an important tool in robotics as it serves to characterize a robot, nd
singular congurations, redundancy analysis, differential inverse kinematics determine and describe
the relationship between the applied force and the resulting torques pairs or end end . It is essential
for the analysis and design of control algorithms such as cartesian control hybrid [8]. Differential
Inverse Kinematics. The inverse kinematics differential represents the relationship between the joint
velocity q with the linear speed of movement v and the angular speed w, expressed in terms of the
inverse of the Jacobian of the robot:
q = J
1
(q)

v
w

7
where J
1
(q) is the inverse of the Jacobian matrix of the robot, which if there is a square matrix and
its determinant is nonzero.
If the robot Jacobian determinant J(q) is zero, then we say that is not full rank and singularity prob-
lems occur. Uniqueness means that it is possible to indicate an arbitrary motion of the robot at the
extreme end, i.e. for a linear velocity v and angular velocity w nite speed may correspond articular
q innite.
Mass Properties. One of the studies necessary to analyze the static behavior of robot kinematics,
and also calculate the center of mass, inertia matrix, principal moments of inertia, products of inertia,
parallel axis theorem of a rigid body as necessary to develop robot dynamics [9].
In the case of 2 DOF effector coordinate systems are designed on the rotation axes of the joints. As
the effector comprises various elements, it is necessary to nd the moment of inertia in x, y and z of
each element and using the parallel axis theorem to nd inertia with respect to the rotation axis or
coordinate systems and well known turn inertia tensor. As this is a consuming task and the inertia
tensor is needed to understand the dynamics of the robot is used SolidWorks to nd out, this being a
good approximation. The inertia tensor measured for the rst link from the coordinate system {1}
(See Fig. 2) in [kg.mm
2
] is:
1
I =

422.107 0.936 228.284

0.936 23090.834 0.001
228.284 0.001 23134.654

With the center of mass located in (See Fig. 6 a.), [mm] units:
X = 120.389
Y = 0
Z = 1.22
the inertia tensor for the rst link measured at the center of mass in [kg.mm
2
] is:
c.m.1
I =

420.899 0.532 109.234

0.532 11357.538 0.005
109.234 0.005 11402.566

The inertia tensor measured for the second link from the coordinate system {2} (See Fig. 2) in
[kg.mm
2
] is:
2
I =

386.08 0 2.08
0 17852.73 0
2.08 0 17899.82

With the center of mass located in (See Fig. 6 b.), [mm] units:
X = 114.37
Y = 0
Z = 0.31
8
the inertia tensor of the second link measured at the center of mass in [kg.mm
2
] is:
c.m.2
I =

386.01 0 26.96
0 8735.63 0
26.96 0 8782.79

Figure 6: a) Mass center of the link 1. b) Mass center of the link 2.

Dynamic. The dynamic is the part of physics that describes the time evolution of a physical system,
linking changes in motion with respect to the causes that generate it. The objective is to describe
the dynamics of the factors that may cause alterations (gravity, friction, inertia) of a physical system,
quantify and raise equations of motion or evolution equations for the operating system [11]. The
study of the dynamics are of great importance in mechanical systems.
There are several ways to raise equations of motion to predict the time evolution of a mechanical
system depending on the initial conditions and forces acting. Lagrangian mechanics, this method also
uses ordinary differential equations of second order, but allows the use of fully general coordinates,
called generalized coordinates, which are better adapted to the geometry of the problem, ie, that the
equations are valid in any system inertial reference or it is not. [9, 12, 13]
Dynamic Reverse. The inverse dynamic model (IDM) to express the behavior of the manipulator
by means of a torque value Fig. 4, having as parameter values for position, speed and acceleration,
using the equations of motion. For two effector DOF modeling was performed using the Lagrangian
formulation.
With the Lagrangian formulation, the equations of motion can be derived systematically coordinate
system independent. Once the set of coordinates q
i
, i = 1, ..., n called generalized coordinates is cho-
sen which describes the actual position of the manipulator link n degrees of freedom, the Lagrangian
of the mechanical system can be dened as a function of generalized coordinates as follows (See Eq.
7) as:
L = KP (7)
9
where K is the kinetic energy and P the potential energy of the system [8].
The equation of motion for a conservative system is given by the Eq. 8:

i
=
d
dt
L
q
i

L
q
i
(8)
Whereq is a vector n generalized coordinates q
i
, is a vector n generalized forces
i
and the La-
grangian is the difference between kinetic energy and potential.
To understand the dynamics of 2 DOF robot must work the following assignments as shown in Fig.
7, the gravity vector is entering the sheet.
Figure 7: Location centers of mass of the links.
where:
m
i
=Mass of link i
I
i
=Inertia of link i
L
i
=Distance of the link i
L
cmi
=Distance from the frame i the center of mass of link i
10
I
xx
i
=Moment of inertia of link i with respect to the axis x
I
yy
i
=Moment of inertia of link i with respect to the axis y
I
zz
i
=Moment of inertia of link i with respect to the axis z
Returning to the Lagrangian formulation [14] for 2-DOF nger, you have to rst link the kinetic and
potential energy with respect to the coordinate system {1}, Eq. 9 and 10:
K
1
=
1
2
m
1
L
2
cm1

2
1
+
1
2
I
zz
1

2
1
(9)
P
1
= 0 (10)
For the second link kinetic and potential energy with respect to the coordinate system {2}, Eq 11 y
12:
K
2
=
1
2
m
2
v
2
2
+
1
2
I
zz
2
(

1
+

2
)
2
Where:
v
2
2
= x
2
2
+ y
2
2
x
2
= L
1
Cos(
1
) +L
2
Cos(
1
+
2
)
y
2
= L
1
Sen(
1
) +L
2
Sen(
1
+
2
)
x
2
=L
1

1
Sen(
1
) L
2
(

1
+

2
)Sen(
1
+
2
)
y
2
= L
1

1
Cos(
1
) +L
2
(

1
+

2
)Cos(
1
+
2
)
v
2
2
= L
2
1

2
1
+L
2
2
(

1
+

2
)
2
+2L
1
L
2
(

2
1
+

2
)Cos(
2
)
Therefore:
K
2
=
1
2
m
2
[L
2
1

2
1
+L
2
2
(

1
+

2
)
2
+2L
1
L
cm2
(

2
1
+

2
)Cos(
2
)]+
1
2
I
zz
2
(

1
+

2
)
2
(11)
P
2
= 0 (12)
Then are added the potential and kinetic energies of each arm, Eq. 9 with Eq. 11 and Eq. 10 with
Eq. 12. After performing the subtraction of the kinetic energy less the potential according to the
Lagrangian formulation as shown in Eq. 13:
L =
1
2
m
1
L
2
cm1

2
1
+
1
2
I
zz
1

2
1
+
1
2
m
2
[L
2
1

2
1
+L
2
cm2
(

1
+

2
)
2
+
2L
1
L
cm2
(

2
1
+

2
)Cos(
2
)] +
1
2
I
zz
2
(

1
+

2
)
2
(13)
11
From Lagrange equation derived are performed, and partial derivatives to obtain the equation of mo-
tion :
L

1
=
m
1
L
2
cm1

1
+I
zz
1

1
+m
2
L
2
1

1
+m
2
L
2
cm2

1
+m
2
L
2
cm2

2
+m
2
L
1
L
cm2
(2

1
+

2
)Cos(
2
) +I
zz
2

1
+I
zz
2

2
d
dt
L

1
= m
1
L
2
cm1

1
+I
zz
1

1
+m
2
L
2
1

1
+m
2
L
2
cm2

1
+m
2
L
2
cm2

2
+m
2
L
1
L
cm2
(2

1
+

2
)Cos(
2
)
m
2
L
1
L
cm2
(2

1
+

2
)Sen(
2
) +I
zz
2

1
+I
zz
2

2
L

1
= 0
L

2
= m
2
L
2
cm2
(

1
+

2
) +m
2
L
1
L
cm2

1
Cos(
2
) +I
zz
2

1
+I
zz
2

2
d
dt
L

2
= m
2
L
2
cm2
(

1
+

2
) +m
2
L
1
L
cm2

1
Cos(
2
) m
2
L
1
L
cm2

2
Sen(
2
) +I
zz
2

1
+I
zz
2

2
L

2
=m
2
L
1
L
cm2
(

2
1
+

2
)Sen(
2
)
Finally obtaining the Eq. 14 and 15 expressing the torque value for each of the gaskets:

1
= m
1
L
2
cm1

1
+m
2
L
2
1

1
+(I
zz
1
+I
zz
2
)

1
+m
2
L
2
cm2
(

1
+

2
)+
m
2
L
1
L
cm2
(2

1
+

2
)Cos(
2
) m
2
L
1
L
cm2
(2

2
+

2
2
)Sen(
2
)+
I
zz
2

2
(14)

2
= m
2
L
2
cm2
(

1
+

2
) +m
2
L
1
L
cm2

1
Cos(
2
)
m
2
L
1
L
cm2

2
Sen(
2
) +m
2
L
1
L
cm2
(

2
1
+

2
)Sen(
2
)+
I
zz
2
(

1
+

2
) (15)
In matrix form would be:
= M()

+V(,

) +G()
M() =

m
11
m
12
m
21
m
22

m
11
= L
2
cm1
m
1
+L
2
1
m
2
+L
2
cm2
m
2
+2L
1
L
cm2
m
2
c
2
+I
zz
1
+I
zz
2
m
12
= L
2
cm2
m
2
+L
1
L
cm2
m
2
c
2
+I
zz
2
m
21
= L
2
cm2
m
2
+L
1
L
cm2
m
2
c
2
+I
zz
2
m
22
= L
2
cm2
m
2
+I
zz
2
V(,

) =

2m
2
L
1
L
cm2
s
2

2
m
2
L
1
L
cm2
s
2

2
2
m
2
L
1
L
cm2
s
2

2
1

G() =

0
0

12
Direct Dynamics. Finally the direct dynamic model (DDM) calculates the acceleration in each axis
of rotation at any given instant of time the position, speed and torque. It is expressed by the Eq. 16
and to obtain it is necessary to know the inverse dynamics [9, 13].

= M()
1
( V(,

) G()) (16)
Control hybrid force/position
This chapter presents the architecture for the control system that implements the controller hybrid
position / force. The controller hybrid force / position must solve three problems:
1. The control of the position of a robot on the directions in which there is a natural restriction
force.
2. The force control of a robot on the directions in which there is a natural restriction position.
3. One scheme for implementing these modes arbitrary mixture of the degrees of freedom of a
frame arbitrary orthogonal.
The position control tasks considered planning, trajectory generation, measurement through sen-
sors and position feedback. Moreover, the force control requires additional elements as environment
models (media), force sensors and force and position feedback. There are several tasks that involve a
movement restricted to the handler as polishing, cutting and some assembly tasks. Different force al-
gorithms have been proposed by different authors. Whitney presents a summary of the early research.
Some important contributions are explicit control force [15], the hybrid control [16, 17], impedance
control [18], stiffness control [19] and proposed parallel control [20]. Because of the difculty pre-
sented by the interaction of the manipulators with their environment and high precision tasks to be
performed are necessary advanced control strategies. One strategy that can cover these difculties is
the control of two degrees of freedom [21]. The drivers of two degrees of freedom, are considered as
an advanced method of control by the ease with which to implement the kinematics and dynamics and
likewise successful in the position and force control [22, 23]. In this work, the driver for two degrees
of freedom, is used for the control of position and force.
Modeling Environment. A robot by denition is a machine capable of interacting with its environ-
ment, that is, must be able to adapt their movements and actions of interaction based on the physical
characteristics of the environments in which you use it and the objects in them. To achieve this
adaptability, the rst thing you need is to have robots situational awareness. Environment models
described in the literature can be classied into rigid environment (restricted) and docile environment
(compliant) [8].
The controller hybrid force / position must solve three problems:
f
e
= K
e
(x x
e
) (17)
wherein the stiffness of the surface is K
e
R
mm
, x is the position of the extreme end of the link 2 and
x
e
is the position x the object in the world. This linear relationship between force and deformation
represents a rst approach to the modeling of robot-environment interaction. Investigating the dy-
namics of interaction, [18] concluded that the environment can be modeled as a mass-spring-damper
widespread.
13
Figure 8: Hybrid Control - environment.
The hybrid control of force / position control is a strategy in which forces are specied in those direc-
tions desired task space in which the movement of the end effector is constrained by the environment,
and a desired path in the other directions, see Fig. 8.
Therefore, the task space is divided into a position control subspace and a subspace force control.
The articular level hybrid control is easy to implement, but it hardly corresponds to the nature of the
task because the selected joints that provide strength and position do not correspond one-to-one with
the restricted and unrestricted address space task of robot manipulator [8]. Khatib variant proposed a
hybrid control based on a description of the dynamics of the manipulator robot end effector seen from
the operational space formulation call or task. This representation is valid congurations excluding
singular task space [24].
Because the position controller must control some directions or degrees of freedom and control to reg-
ulate the remaining force, this control strategy is suitable for tasks where the behavior is predictable.
The hybrid control schemes usually have two parallel control loops, one for position and one for the
force as shown in Fig. 9, but in fact each joint contributes to both performing position control and
force control, the outputs of these loops are summed before being sent to the robot in the form of a
global control vector. The simultaneous action of the two controls can generate conict, as two differ-
ent types of action are ordering the same actuators. To avoid antagonism between controls usually use
a diagonal selection matrix often called S, which lets you choose the type of control either position or
force [8, 13].
The structure of a hybrid controller as follows, Eq. 18:
= J
T
(q)[K
f
S( f
d
f
e
) +K
p
(I S)(x
d
x) K
v
x] (18)
14
Figure 9: Block diagram of the hybrid control force / position.
where S R
mm
is a diagonal matrix consisting of 1s and 0s, which serves to specify addresses to be
controlled by force and to be controlled by position, the directions corresponding to the elements of
S that are 1s are controlled by force and thus the rest are controlled by position. I R
mm
represents
an identity matrix, the controller parameters K
f
R
mm
and K
p
R
mm
represent proportional gains
of position and force, on the other hand K
v
R
mm
corresponds to the derivative gain related to the
speed of the robot end effector. This is shown in the following Fig. 9 block diagram:
The robots behavior is numerically simulated using MATLAB, for this purpose the dynamic model
was rewritten in generalized coordinates as:
q = M
1
(q)[ J
T
(q) f
e
C(q, q)

q]
Figure 10: Hybrid Control with the two control laws in MATLAB.
15
In order to simulate the interaction between the robot with a docile environment is considered a wall
surface or XEY = 1mm from the origin, on which a force is exerted along the axis. Elastic was
simulated environment represented by the Eq. 17 of section with stiffness Ke = diag1500[N/m] to
generate the interaction force. To perform this task control interaction was used hybrid force / position
as shown in Fig. 10.
Forward Kinematics block takes the values of the angular position of each joint, and thus obtaining
the vector positions POS, being POS =

POSX
POSY

, the inverse kinematics vector takes POSD =

POSXD
POSYD

with the desired positions of each joint and calculates the angular position of each joint.
The equations were implemented in these blocks were obtained from section and .
The blocks and ISE are implemented internally selection matrix with the difference that ISE is mul-
tiplied by the identity matrix. By multiplying the matrix by the identity matrix selection the result is
contrary to the matrix selection which means that while working on a power control works ISE axis
position control on the other axis. The equations were implemented in these blocks were obtained
from section .
Position Control, Force Control and Cruise Control blocks containing the matrices described in Eq.
19, 20 and 21, these blocks are implemented prots matrices:
MatrixKp =

ConstantKp 0
0 ConstantKp

(19)
MatrixK f =

ConstantK f 0
0 ConstantK f

(20)
MatrixKv =

ConstantKv 0
0 ConstantKv

(21)
Control Position blocks and force control taking previously multiplied by the signal matrix gain se-
lection and gives to the axis about which it must interact. The speed control block takes the values of
current and desired angular position of the robot and gives prot to control robot speed.
The block modeling environment that aims to clarify the fundamental aspects of the control of in-
teraction with the environment. This block takes the current position of the robot and the position
of the wall that interacts with the effector. If the robot comes into contact with the wall strength is
evaluated with this interaction is performed by f e = Ke(x xe). This and other equations that were
implemented in this block were obtained in section .
JacobianoT block is responsible for obtaining the torque through the transpose of the Jacobian and
from the force values and current angular positions of the robot.
Results
16
Figure 11: Position in X and Y control.
The following shows the results for the control of 2 DOF for nger position and force hybrid. In Fig.
11 shows the robot position control in both in X and Y, for which selective matrix type as follows
S =

0 0
0 0

.
Figure 12: Position in X and force in Y control.
For controlling the position on X axis and strength in Y selective matrix is entered with the following
values S =

0 0
0 1

, obtaining the Fig. 12.

17
Figure 13: Position in Y and force in X control.
For the position control in the Y and strength in X was obtained Fig. 13 entering the selection matrix
as follows S =

1 0
0 0

.
It is noted in Fig. 12, 13 that the desired trajectory is followed properly by the extreme end of the
robot axis to be controlled designated position. Likewise it can be seen that the axes to be controlled
by force does not follow the path but maintains the value of force between the trailing end of the robot
and the wall surface or located in XEX = 501[mm] and XEY = 1[mm] for each of the cases shown
above.
Figure 14: Control force in X and Y [mm].
Finally the Fig. 14 sample manipulator interaction with the environment by the action of force control,
without any action on position control, which is why the handle is held in a single point. The selection
matrix for control by force is S =

1 0
0 1

.
18
The proceeds were used for the hybrid controller were Kp = diag500000[N/m], K f = diag500000 y
Kv = diag500[N s/m]. based on those used by the [8].
Figure 15: MATLAB Simulation Validation
It is claried that despite having used for tuning PID gainsKp the controller position in X and in Y
and then by force in X and in Y separate responses were satisfactory, but when deploying the hybrid
control system response was not as expected, showing an error of + / - 5% as shown in Fig. 15 as was
again necessary in hybrid tuning, namely whether control is desired position or force or hybrid must
perform controller tuning.
Conclutions
The implementation of the hybrid controller is simple numerical programs, but this driver
presents difculties when implementing it as to make changes in the environment or effec-
tor task, it is necessary to make changes to the controller and operating parameters. It is very
versatile.
There were great difculties in tuning and implementation of hybrid controller because the
response of the controller in terms of position and force were the desired torque values ranged.
Implemented a PID controller (2-DOF) MATLAB self-tuning the position variable to yield
good results compared with only a proportional gain.
Simulations and experiments allow to observe an adequate ability to reorient the end of the
nger continuously in function of the contact pairs, maintaining at all times the force applied
on the contact surface of the sensor or tracer element.
This paper presented a control scheme in two dimensions and future could add a degree of
freedom, which is replaced by a three-dimensional control of forces. Thus accommodating
19
movement is generated that reorients the tracer element on the contact surface. Once the nec-
essary conditions are hybrid control is performed in which the axes of the plane tangent to the
contact surface are controlled in position while on the axis perpendicular to the contact surface
is made of a control force.
As future work can be seen the implementation of force sensors that are located in each joint,
this would facilitate the control technique.
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