The implementation of a natural admittance controller on an industrial manipulator

This research focuses on the implementation of a natural admittance controller on an industrial manipulator. Natural admittance control is a particular type of interaction controller which guarantees stability with any passive environment. The admittance criterion is presented along with methods of control. A robot model is proposed and the model parameters are found experimentally. A controller is designed which takes into consideration the aforementioned model. Also, a convenient technique that allows "on the fly" modification of controller gains and desired dynamics has been developed. The controller was designed and implemented on an industrial robot and performance results are presented. The implemented scheme is shown to offer high performance and guaranteed stability with good friction rejection.<
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