6 Experimental Results for Contact Force and Compliant Motion Control

  • R.V. Patel
  • F. Shadpey
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 316)


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 [67], 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.


Interaction Torque Kinematic Error Force Tracking Joint Flexibility Kinematic Calibration 
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Authors and Affiliations

  • R.V. Patel
    • 1
  • F. Shadpey
    • 2
  1. 1.University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, OntarioCanada N6A 5B9
  2. 2.Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, QuebecCanada H4R 1K2

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