This thesis proposes a control strategy of position and force control in the same direction based on hybrid position/force control.
In order to control position and force in the same direction, "Weighting Matrix" is introduced instead of selection matrix suggested by Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large.
The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.
