Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space

摘要

This paper presents path following control for fully actuated rigid body systems in 3-D space. Transverse feedback linearization and a parallel transport frame are used to design a path following controller that is suitable for paths that are parametrized as regular threefold continuously differentiable curves. The application of this frame enables the handling of paths with zero curvature and reduces the complexity of the control law. The path following controller is combined with a compliance control concept. The strategy is verified by a series of measurement results on a DELTA robot with linear drives.