Compliant control of robotic manipulators with resolved acceleration

In this paper we present a conceptually simple, computationally affordable and accurate algorithm to control both position/orientation and contact force/torque of industrial manipulators. The algorithm is derived by extending and then combining the control architecture by Raibert and Craig [1] and the resolved acceleration control by Luh et. al [2]. The constraint space is used for specifying the desired position/orientation as well as the desired force/torque[1]. Under the assumption that the desired trajectories of position and force are provided by an off-line task planner, we have developed the control algorithm to resolve the error signals between the desired and actual position and force into joint accelerations. In order to show its computational simplicity and practical usability, we present (i) simulation results of the control algorithm for a PUMA 600 series manipulator on the DEC VAX-11/780, and (ii) analysis of its computational requirements.