A switching control scheme for constrained robot tasks

Abstract

The paper presents the design and real-time control implementation issues of a switching control scheme for a robot interacting with a constraint surface. One key aspect investigated is the effect of uncertainty in the location of the constraint surface. A switching controller that is robust to uncertainty in the location of the constraint surface is given for a typical constrained robot task. Further, a strategy for real-time trajectory modification, which is required to compensate for the discrepancy in the a-priori known location and the actual location of the constraint, is given. Details of the experimental platform and typical experimental results are given. This research can find applications in robotic surface finishing operations such as polishing, chamfering and deburring, etc.