6 Experimental Results for Contact Force and Compliant Motion Control
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In this chapter, we describe the hardware experiments performed to evaluate the performance of the proposed AHIC scheme for compliant motion and force control of REDIESTRO. Considering the complexity and the large amount of calculations involved in force and compliant motion control of a 7-DOF redundant manipulator, the implementation of the realtime controller, from both hardware and software points of view, by itself represents a challenge. It should be noted that there are very few cases in the literature that experimental results for force and compliant motion control of a 7-DOF manipulator have been reported. In , a set of experiments on contact force control carried out on a 7-DOF Robotics Research Corporation (RRC) model K1207 arm at the Jet Propulsion Laboratory is reported. It should be noted that the RRC arm is one the most advanced manipulators from both mechanical design and controller viewpoints. On the other hand, implementation of the AHIC scheme for REDIESTRO introduces additional challenges.
KeywordsInteraction Torque Kinematic Error Force Tracking Joint Flexibility Kinematic Calibration
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