The Force/Position Robot Manipulator control

The Force/Position Robot Manipulator control using PID controllers has a great importance in the Automation Industries. D-H transformation, Iterative Newton-Euler dynamic formulation, Lagrangian formulation of manipulator dynamics, Trajectory Planning and Control Logics are the building blocks of robot hand action reference to base. Among many controllers, PID controller is preferred in many fields for controlling the action. A PID controller attempts to correct the error between a measured process variable and a desired set point by calculating and then outputting a corrective action that can adjust the process accordingly.

Force-Position-control-of-robot
Force Position control of a manipulator