Adaptive Compliant Motion Control of Manipulators Without Velocity Measurements

摘要

This article presents two adaptive schemes for compliant motion control of uncertain manipulators. The first strategy is developed using an adaptive impedance control approach and is appropriate for tasks in which the dynamic character of the end-effector/environment interaction must be controlled, while the second scheme is an adaptive position/ force controller and is useful for those applications which require independent control of end-effector position and contact force. The proposed controllers are very general and computationally efficient, require virtually no information regarding the manipulator dynamic model or the environment, and are implementable without velocity measurements. It is shown that the schemes ensure semiglobal boundedness of all signals in the presence of bounded disturbances, and that the ultimate size of the system errors can be made arbitrarily small. The capabilities of the proposed control strategies are illustrated through both computer simulations and laboratory experiments with a 6 degree-of-freedom (DOF) IMI Zebra Zero manipulator.