Simplification of Compliance Selection Using Spatial Compliance Control

摘要

Abstract Impedance control and related interactive control schemes such as admittance and compliance control can be used to control the dynamic, interactive behavior of robotic manipulators and other devices. In practice it has proven difficult to select appropriate impedance parameters to execute useful tasks. A summary of a spatial compliance control scheme for manipulators consisting of a serial linkage of rigid links is given. The spatial transformation properties of this compliance simplify compliance selection compared with the well known, coordinate-based compliance control scheme. To demonstrate utility the nontrivial task of writing on a spherical surface is considered.