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On the elasticity in the dynamic decoupling of hybrid force/velocity control in the contour tracking task

The paper investigates the decoupling of an explicit hybrid force/velocity control of robot manipulators employed in the contour tracking task of objects of unknown shape taking into account the elastic model of the contact and of the robot. The proposed controller allows the achievement of the decoupling of the normal force and tangential velocity control loops and can be expressed as a multi-input multi-output (MIMO) time-varying proportional-integral-derivative (PID) controller. Experimental results demonstrate the effectiveness of the method.