Adaptive Admittance Control for Active Compliance Under Dynamic Motion

摘要

The compliance of the robot end-effector is a crucial prerequisite for the interaction between the robot and the environment. The classical admittance control is a simple method widely used in this field. However, it may not effectively achieve dynamic contact force tracking in the presence of time-varying robot end-effector trajectory. Based on the above problem, we propose a novel adaptive admittance control that integrates the motion state during dynamic interaction between the robot end-effector and the environment with the principles of admittance control. This approach effectively regulates contact forces, enhancing the active compliance of the end-effector. Dynamic motion simulations involving interaction with the environment are conducted to evaluate the performance of the classical constant admittance control and the adaptive admittance control. The results prove that the proposed approach exhibits superior active compliance compared to the classical method.