Deformation control of elastic object by robot arm: high-precision deformation control by adaptive feed-forward control

摘要

This paper derives the equations of motion of a horizontal three-link robot arm contacting an elasticobject, then proposes deformation control for the elastic object by the robot arm. This deformationcontrol involves feedback control of joint angles, feedforward control by robot arm dynamics, andadaptive feedforward control for unknown elastic object dynamics. An adaptive feedforward controllaw is devised using an online parameter identification algorithm based on the least squares method,zero phase error tracking control theory, and the Jacobian matrix of the robot arm. Numericalsimulation and experimental results confirmed that deformation control error by the proposedadaptive control rapidly decreases with the passing of time.