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With regard to both human and robot capabilities, human-robot interaction   provides several benefits, and this will be significantly developed and   implemented. This work focuses on the development of real-time external   force/position control used for human-robot interaction. The force-controlled   robotic system integrated with proportional integral control was performed   and evaluated to ensure its reliably and timely operational characteristics,   in which appropriate proportional integral gains were experimentally adopted   using a set of virtual crank-turning tests. The designed robotic system is   made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque   sensor and a real-time external PC based control system. A proportional   integral controller has been developed to provide stable and robust force   control on unknown environmental stiffness and motion. To quantify its   effectiveness, the robotic system has been verified through a comprehensive   set of experiments, in which force measurement and ALTER real-time path   control systems were evaluated. In summary, the results indicated   satisfactorily stable performance of the robot force/position control system.   The gain tuning for proportional plus integral control algorithm was   successfully implemented. It can be reported that the best performance as   specified by the error root mean square method of the radial force is   observed with proportional and integral gains of 0.10 and 0.005 respectively

Force/position control of a robot manipulator for human-robot interaction