Control design of robot for compliant manipulation on dynamic environments

The problem of control design of robot performing compliant manipulation is addressed. Compliant manipulation fundamentally requires that the controlled robot not only follow up the input trajectory exactly in free motion space, but also manipulate adaptively on dynamic environments while making compliant contact with its dynamic constrained space. A model-matching approach for the control design of robot manipulators is presented. The problems of how to select the reference model according to environment dynamics (while considering its dynamic uncertainty, the contact discontinuity, and the robot actuator´s output limitation) and how to implement such a reference model in a robot control system are analyzed. The effectiveness of this approach is illustrated by computer simulation and experimental results compared with impedance control approach