CONTROL DESIGN OF ROBOT FOR COMPLIANT MANIPULATION ON DYNAMIC ENVIRONMENTS

The problem of control design of a robot to perform compliant manipulation on dynamic environments is studied. Compliant manipulation fundamentally requires the controlled robot not only to follow the input trajectory exactly in free motion space, but also 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 of the robot manipulators is presented. The problems of how to select 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 is given to improve its performance autonomously when imposing the compliant manipulation on the dynamic environment with parameter uncertainties. The effectiveness of this approach is illustrated through computer simulations and experiments by comparing with the impedance control approach.