A stable transition controller for constrained robots

This paper addresses the problem of contact transition from free motion to constrained motion for robots. Stability of transition from free motion to constrained motion is essential for successful operation of a robot performing general tasks such as surface following and surface finishing. Uncertainty in the location of the constraint can cause the robot to impact the constraint surface with a nonzero velocity, which may lead to bouncing of the robot end-effector on the surface. A new stable discontinuous transition controller is proposed to deal with contact transition problem. This discontinuous transition control algorithm is used when switching from free motion to constrained motion. Control algorithm for a complete robot task is developed. Extensive experiments with the proposed control strategy were conducted with different levels of constraint uncertainty and impact velocities. Experimental results show much improved transition performance and force regulation with the proposed controller. Details of the experimental platform and typical experimental results are given