抄録
In this paper we study the performance of contact tasks by a robot manipulator on flexible objects. The flexible object's distributed parameter model is approximated as a lumped "position state-varying" model. By using nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's force control subspace. An optimal state feedback is designed for the position loop, and the robot's contact force is controlled using model-reference simple adaptive control. Experiments using a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach.
