Adaptive Compliant Motion Control for Dexterous Manipulators

摘要

This article presents two adaptive schemes for compliant mo tion control of dexterous manipulators. The first scheme is developed using an adaptive impedance control approach for torque-controlled manipulators, whereas the second strategy is an adaptive admittance controller for position-controlled manipulators. The proposed controllers are very general and computationally efficient, as they do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment and are implemented without calculation of the inverse dynamics or inverse kinematic trans formation. It is shown that the control strategies are globally stable in the presence of bounded disturbances and that in the absence of disturbances the ultimate bound on the size of the system errors can be made arbitrarily small. The capabilities of the proposed control schemes are illustrated through both computer simulations and laboratory experiments with a dex terous Robotics Research Corporation seven-degrees-of-freedom (DOF) manipulator.