ADAPTIVE COMPLIANCE CONTROL: An Approach to Implicit Force Control in Compliant Motion

~ This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Compliance control is used as an implicit force control scheme and establishes a user-specified target interaction ciyna]nics between the reference position and the contact force. ‘J’wo adaptive lag-plusfccdfor ward compliance compensators are developed in the paper. The compliance compensators do not require force rate information for implcrncntation. Since the environmental stiffnc.ss can typically vary by several orders of magnitude, compensator adaptation is used to ensure a stable and uniform systcm performance. Dynamic simulation results for a 7 1)01” Robotics Research arm are presented to demonstrate the cfflcacy of the proposed comIdiancc control schcmc in executing contact tasks. 1