On Adaptation of Robot to Dynamic Environment in Compliant Manipulation

Abstract

This paper studies on the control of robot to perform compliant manipulation on unknown dynamic environments. Compliant manipulation fundamentally requires robot to adapt for environment dynamics. For robot manipulators to be succeeded in performing such manipulation, it's already known that control of position or force alone is inadequate. Focused on the input-output responses of both position and force of the robot control system, we have proposed a model matching approach. In this approach, both for the selection of reference model and the design of force feedback compensator, the accurate information on environment dynamics was needed. However practically, in most of the robot's contact tasks, we never know the environment dynamics or only know the bounds of its parameters before exiting the task.
In this paper, by studying the most unfavourable environment dynamics for robot's compliance, the digital simulator for continuous linear dynamic environment, we try to give out an algorithm for robot manipulators to adapt for the unknown environment dynamics autonomously during the manipulation. A setup of experimental system of one degree of freedom robot and environment has also been made to study various of control approaches for robot's pushing manipulation on dynamic environment. Experiment results show the effectiveness of our design approach.