Résumé
This paper investigates the application of force controls on a tendon-driven underactuated robotic arm. A direct use of classical hybrid force/motion control based on computed torque control can lead to instability for this type of system. Reformulating the hybrid force/motion control using the pseudo computed torque control (PCTC) framework leads to a stable control strategy. Finally, it is shown that applying admittance control in combination with PCTC also results in stable behavior when exerting a force against a wall or in a cobotics context. These results are then validated through experimentation.