Direct adaptive impedance control of robot manipulators

The paper deals with control of a robot, when it is in contact with the environment. Such situation commonly arises in assembling, deburring edges or in mechanical fingers or walking machines. Many times the environments is unknown and therefore the interaction forces must be accommodated rather than resisted so as to comply with the environmental constraints. The approach followed in the paper is to use impedance control. The control objective is in regulation of the mechanical impedance of the robot end-effector that relates both position and force. The paper develops an adaptive impedance control scheme for manipulators. The controller does not require knowledge either the structure or the parameter values of the robot dynamics and can be implemented without calculation of the robot inverse kinematic transformation. The proposed control system consists of three subsystems: a simple ``filter, an adaptive Cartesian-space impedance controller, and a mapping algorithm for the Cartesian-space control input to a physically realizable joint- space control torque. The method can be applied for both redundant and non-redundant manipulators. The paper concludes with a number of simulation studies with a planar four degree-of-freedom redundant manipulator. These indicate that accurate end-effector impedance control and effective redundancy utilization can be achieved simultaneously by using the proposed controller.

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