Compliant Control Using Robust Multivariable Feedback Methods

In this paper we deal with the problem of dynamic control of robotic manipulators in the presence of uncertainty. Specifically we focus on compliant control in the context of surface tracing. We use the Combined Force-Position control architecture and develop control laws based on a system model obtained by operating point linearization techniques. Robust analysis and design methods are presented using frequency domain multivariable feedback methods. Compensator design is carried out for a two link planar manipulator, and experimental results are shown while a guarded move is being executed.