Robot force control without dynamic model: theory and experiments

摘要

SUMMARY Among the many challenges to deal with, when a robot is interacting with its environment, friction at the contact surface and/or at the joints is one of the most important to be considered. In this paper we propose a control algorithm for the tracking of position and force (unconstrained orientation case only) of a manipulator end-effector that does not require the robot model for implementation. This characteristic has the advantage of making it capable to compensate friction effects without any previous estimation. Furthermore, no velocity measurements are needed, and the unit quaternion is employed for orientation control. Experimental and simulation results are provided.