A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

Takashi Ohhira, Keinosuke Yokota, Shuichi Tatsumi, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This paper proposes a robust hybrid position/force control (HPFC) system for multi-degree of freedom manipulators (MDoFMs) with torque constraints on each joint. General HPFC systems can control the interactive contact forces and positions of manipulators in various environments. In HPFC systems, to improve the control performance for MDoFMs, motor torque saturation should be considered. Thus, a robust HPFC system that considers torque constraints by predictive functional control (PFC) is proposed in this paper. The proposed method simultaneously handles the response characteristics and torque constraints of actuators by using PFC as joint space position controllers. Additionally, the robustness of actuators against external forces is enhanced, and the model parameter errors are compensated by the disturbance observer technique. Moreover, implicit force control law and inverse kinematics are introduced for the workspace position/force control to implement the joint space position controllers. Consequently, the stability and robustness of the actuators are considered, and suitable position/force control can be performed even if the torque is saturated. The validity of the proposed method is tested with three planar manipulator joints with a uniaxial force sensor.

Original languageEnglish
Article number9355132
Pages (from-to)34515-34528
Number of pages14
JournalIEEE Access
Publication statusPublished - 2021


  • Force control
  • manipulators
  • optimal control
  • position control
  • predictive control

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


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