Synthesis of impedance control for complex co-operating robot assembly task

This paper describes the algorithms for the synthesis of the impedance control in industrial robots at servo and higher motion planning and programming control levels. These algorithms are realized in the SPARCO control system, providing a powerful impedance control framework for executing various contact tasks with industrial robots. For new contact tasks, the SPARCO provides the possibility to adjust the impedance control gain to the specific robot and control task (environment), as well as to combine elemental commands and high-level contact control actions in order to program a new robot application. The paper describes an automatic procedure for the reliable robust impedance control design ensuring both coupled and transition contact stability with an uncertain environment. This procedure synthesizes the impedance controllers of two cooperating industrial robots executing quite complex assembly tasks. The solution of this task at the planning level also is described.