Development of Adaptive Force-Following Impedance Control for Interactive Robot

This paper presented a safety approach for the interactive manipulator. At first, the basic compliance control of the manipulator is realized by using the Cartesian impedance control, which inter-related the external force and the end position. In this way, the manipulator could work as an external force sensor. A novel force-limited trajectory was then generated in a high dynamics interactive manner, keeping the interaction force within acceptable tolerance. The proposed approach also proved that the manipulator was able to contact the environment compliantly, and reduce the instantaneous impact when collision occurs. Furthermore, adaptive dynamics joint controller was extended to all the joints for complementing the biggish friction. Experiments were performed on a 5-DOF flexible joint manipulator. The experiment results of taping the obstacle, illustrate that the interactive robot could keep the desired path precisely in free space, and follow the demand force in good condition.