Adaptive trajectory tracking and position/force controllers for position-controlled manipulators

摘要

This article considers the problem of expanding the performance capabilities of standard industrial position-controlled manipulators, and proposes as a solution a general approach for both trajectory tracking and compliant motion. The proposed approach adaptively generates position commands for an existing position controller in such a way that desired behaviors are accurately realized, even in the presence of considerable system uncertainty. The proposed strategy is general and computationally efficient, requires little information regarding the manipulator model, and ensures desirable convergence properties: global boundedness of all signals, and system errors that converge to an arbitrarily small neighbourhood of zero. Capabilities of the proposed adaptive strategy are illustrated through laboratory experiments with COMAU Smart S2 and Robotics Research Corporation Model K-1207 robot arms, and confirm a simple and effective means of obtaining high-performance tracking and force control.