Abstract
Abstract Compliant motion of a manipulator occurs when the manipulator moving trajectory is somehow constrained by the task geometry. The variational contact force induced during the constrained motion phase will invalidate the modern robotic controller in performing precise industrial operations and deteriorate the stability of the control system. For precision deburring and grinding, the robot oscillation and small uncertainties in the location of the part relative to the robot need to be appropriately compensated for. Therefore, a robust control law must be developed to solve this problem. Hybrid control and impedance control are the approaches that have been taken recently. The former requires some strategy to switch between position and force mode, while the latter cannot control the force history in an uncertain environment. This paper proposes a modified impedance control law based on Hogan's impedance control theory to control the compliant motion and the contact force between the robot and the en...
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