Unified Approach for Force/Position Control in the Vehicle Body Sanding Process

This paper present a methodology for simulating the unified approach that controls the interaction force between the tool and objective by using synthesis method of robot interacting control law for stabilizing the transient process of motions. The root locus is used to analyze the stabilization of motion deviation characteristics. Basing on the responses of motion deviation, the contact force is derived to satisfy the exponential stability and we generate the control input respect to motion trajectories and interaction force. Moreover, the simulation will be applied to experimental application of Cartesian robot driven by two stepper motors, the noises of feedback signals will be considered as presence of system inaccuracies, and the unified approach of interaction force controlwill be examined perfectly.