Robot force position control without impact: Method and application

In order to solve the problem of impact in robotic force position control during the initial state, the hyperbolic tangent filter function which was constituted a non-linear PID was used to process tracking error and speed. A robot force and position controller without impact was achieved. The Popov method was applied to prove the stability of the system. Based on the force and position control experiment of XYZ three-axis motion platform system using Matlab software, the results show that the non-linear PID filter function has improved the close-loop systemic performance greatly.