Active Tracking Unknown Surface Based on Force Control for Robot

A novel method of active tracking unknown surface based on force control is proposed. This method uses differential geometry as its main analysis tool. Its main idea is that get the geometric properties of surface near the contact point through a six-dimensional force sensor and then give the prediction of trajectory and the compensation of force simultaneously on the basis of the previous force and geometry information. This paper develops a novel hybrid force/position interpolator based on the above theory and appLies it to a 3-axis Cartesian robot. An experiment tracking the bulb surface is implemented in the above robot. A good experimental result is obtained.