Model Predictive Control with Virtual Delayed Resonator for Constant Force Interaction of Robotic Manipulator with Environmental Surface

Admittance control is considered an effective method for achieving constant force contact with a manipulator. However, the presence of unknown environmental stiffness and non-uniformity of the contact surface can adversely affect the manipulator's ability to maintain constant force contact, leading to jitter or even bouncing during the process. To address this issue, this paper introduces a novel constant force control method using Model Predictive Control (MPC) with virtual delayed resonator admittance control. The virtual delayed resonator can effectively mitigate the adverse effects on the admittance controller caused by external interference during the manipulator's contact with the environment, thus reducing jitter. MPC ensures that the manipulator can quickly track the desired constant force required during contact with the environment. Finally, simulation experiments demonstrate that the virtual delayed resonator admittance control method based on MPC exhibits good robustness in constant force tracking tasks and can effectively achieve the desired constant force tracking.