Regulation of force and position for a robot manipulator in contact with a compliant environment

摘要

This paper is concerned with the problem of regulating force and position for a robot manipulator whose end effector is in ocntact with a compliant environment. The end-effector position set point is suitably scaled in order to match the desired force set point along the normal direction, where the scaling factor is updated according to an adaptive mechanism. Global asymptotic stability is formally proved. Experimental results on an industrial robot with open control architecture are presented.