Mechanics models in the control problem of the force interaction between a robot and a free-formed surface

The example of the problem of controlling the force interaction of a robot with a free-formed surface shows the crucial role of mechanics models in obtaining high-quality implementations of the desired motions. Adequate mechanics models are needed both for coordinating the inertial and stiffness characteristics of the robot and the force sensor, and for choosing the structure and configuration of the position-force control, as well as when selecting the implemented desired motions. The article describes a positioning mode with the release of the robot to contact the surface and a force control mode of the robot interacting with surface. We investigated the algorithms of position-force control with a PID-controller and an integral compensator. The article shows the possibility of further enhancing the quality of control by correcting the required motion by learning.