Application of uniform structures and passive compliant components in an adaptive robot control for technological operation

A novel and efficient approach invented for the adaptive control of approximately and partially known multivariable, nonlinear, strongly coupled mechanical systems under dynamic interaction with an unmodeled environment is applied in polishing as a technological process. The method overcomes the typical limitations of classical approaches via using a passive compliant component as an essential part of the control. By applying uniform structures derived from the Euler-Lagrange equations in the most general and formal level the method is a compromise between the classic hard computing (HC) and soft computing (SC). Thus typical difficulties in traditional SC as the a priori unknown number of the necessary free parameters, the scaling problems and the need for full system identification are evaded. Several ancillary uniform procedures also are applied to support machine learning. The method is proved and illustrated via simulation in the case of a 3 DOF SCARA arm as a basic robot paradigm