| Summary: | This thesis presents a model-based fuzzy tuning PID method for the force/position control of a robot manipulator. The interaction relationship between the robot and the environment is modeled for hybrid control scheme. The model is based on the kinematic and dynamic descriptions because in many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. The kine-matic description represents the constrained relationship between the robot and the environment, while the dynamic description includes the configurations representing the relative motion of the robot with respect to the environment. Meanwhile, in order to study the influence of the kinematic uncertainty from the environment on the sys-tem, parameter representing uncertainty is also introduced into the descriptions of the interaction relationship.
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