23 Control of Robotic Systems in Contact Tasks Introduction Contact Tasks Classification of Robotized Concepts for Constrained Motion Control Model of Robot Performing Contact Tasks Passive Compliance Methods Nonadaptable Compliance Methods • Adaptable Compliance Methods Active Compliant Motion Control Methods Impedance Control • Hybrid Position/Force Control • Force/Impedance Control • Position/Force Control of Robots Interacting with Dynamic Environment ˇ Dragoljub Surdilovi´ c Fraunhofer Institute Contact Stability and Transition Synthesis of Impedance Control at Higher Control Levels Compliance C-Frame • Operating Modes • Change of Impedance Gains — Relax Function • Impedance Control Commands • Control Algorithms • Implicit Force Control Integration Miomir. | 23 Control of Robotic Systems in Contact Tasks Dragoljub Surdilovic Fraunhofer Institute Miomir VukobratoviC Mihajlo Pupin Institute Introduction Contact Tasks Classification of Robotized Concepts for Constrained Motion Control Model of Robot Performing Contact Tasks Passive Compliance Methods Nonadaptable Compliance Methods Adaptable Compliance Methods Active Compliant Motion Control Methods Impedance Control Hybrid Position Force Control Force Impedance Control Position Force Control of Robots Interacting with Dynamic Environment Contact Stability and Transition Synthesis of Impedance Control at Higher Control Levels Compliance C-Frame Operating Modes Change of Impedance Gains Relax Function Impedance Control Commands Control Algorithms Implicit Force Control Integration Conclusion Introduction This chapter reviews the state of the art of the control of compliant motion. It covers early ideas and later improvements as well as new control concepts and recent trends. A comprehensive review of various compliant motion control methods proposed in the literature would certainly be voluminous since the research in this area has grown rapidly in recent years. Therefore for practical reasons a limited number of the most relevant or representative investigations and methods are discussed. Before we review the results we categorize compliant motion tasks and proposed control concepts based on various classifying criteria. Particular attention is paid to traditional indices of control performance and to the reliability and applicability of algorithms and control schemes in industrial robotic systems. Contact Tasks Robotic applications can be categorized in two classes based on the nature of interaction between a robot and its environment. The first one covers noncontact . unconstrained motion in a free 2002 by CRC Press LLC space without environmental influence exerted on the robot. The robot s dynamics have a .
