A study on compliance control for manipulator

The compliant motion control of a manipulator is proposed by the self-tuning adaptive control method. Compliant motion is needed in such complicated and accurate fields as assembly operation in which several parts are mated. Among compliant motion control methods, the hybrid control is used so that force and position control is processed selectively through a closed feedback loop. In case of contacting with environment, uncertainties of manipulator are more serious. In order to satisfy the desired operation, self-tuning controller which adapts to various dynamic response is applied to compliant motion control. Finally, the applicability of the suggested algorithm by simulation results of the contour tracking task of four-joint manipulator is confirmed.<
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