Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator

The purpose of this paper is to describe the results derived from an experimental study of dexterous manipulation using hybrid force and position control. The paper includes descriptions of the electrohydraulic master/slave manipulator, experimental system identification, control system design and implementation, and experimental results of closed chain position and force feedback control to demonstrate Space Station like robotic operations. A combination of minor loop rate feedback with integral mode, joint based position feedback, and end-effector based force feedback is shown to provide the desired dexterity of hybrid force and position control tasks.