Control design of robot for compliant manipulation on dynamic environments

摘要

The problem of designing the control for a robot that performs compliant manipulation on dynamic environments is studied. Compliant manipulation requires the controlled robot not only to follow the input trajectory exactly in free motion space, but also to manipulate adaptively on dynamic environments while making compliant contact with the environment's dynamic constrained space. An original model matching control approach for the control design is presented. The problems of selecting a reference model according to the environmental dynamics, its dynamic model uncertainty, the contact discontinuity and the robot actuator's output limitation are studied. The problem of how to implement such a reference model in a robot's control system is considered. In addition, adaptive algorithm for the robot manipulator are given to improve its performance when imposing compliant manipulation on a dynamic environment with parameter uncertainties. The effectiveness of this approach compared to the impedance control approach is illustrated through computer simulations and experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>