ROBUST GENERALIZED IMPEDANCE CONTROL OF ROBOTS FOR COMPLIANT MANIPULATION

摘要

Compliant manipulation requires the robot to follow a motion trajectory and to exert a force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating motion errors and interaction force errors is introduced such that force tracking can be achieved. Using variable structure model reaching control, the generalized impedance is realized in the presence of both parametric uncertainties and external disturbances. The proposed control method is applied to the prismatic joint of a SCARA robot for inserting a printed circuit board into an edge connector socket. It is suggested that an assembly strategy that involves a sequence of planned target generalized impedances can enable the task to be executed in a desirable manner. The effectiveness of this approach is illustrated through experiments by comparing the results with those obtained using a model-based control implementation as well as the traditional impedance control method.