PROJECT TITLE :

Constraint-Based Interaction Control of Robots Featuring Large Compliance and Deformation

ABSTRACT:

This paper introduces a framework for constraint-based mostly force/position control of robots that exhibit giant nonlinear structural compliance and that undergo giant deformations. Controller synthesis follows hereto the principles of the Task Frame and instantaneous Task Specification using Constraints (iTaSC) formalisms. iTaSC is found particularly suitable due to its ability to express and combine control tasks in a very natural means. Control tasks can be formulated as combos of target positions, velocities, or forces expressed in an arbitrary number and type of coordinate frames. The proposed framework is applied to a mixed mechatronic system composed of a ancient rigid-link robot whose end-effector is a continuum (versatile) link. A choice of different position/force control tasks is prepared to demonstrate the validity and general nature of the proposed framework.


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