A Control Scheme With a Novel DMP-Robot Coupling Achieving Compliance and Tracking Accuracy Under Unknown Task Dynamics and Model Uncertainties

A control scheme consisting of a novel coupling of a DMP based virtual reference with a low stiffness controlled robot is proposed. The overall system is proved to achieve superior tracking of a DMP encoded trajectory and accurate target reaching with respect to the conventional scheme under the presence of constant and periodic disturbances owing to unknown task dynamics and robot model uncertainties. It further preserves the desired compliance under contact forces that may arise in human interventions and collisions. Results in simulations and experiments validate the theoretical findings.