부산대학교 도서관

The aim of this paper is to design an adaptive interaction controller to deal with compliant base robotic systems executing interaction tasks (e.g., assembly tasks). The main goal of such controller is to avoid the force-overshoots while compensating the robot base dynamics. The proposed controller does not require any modeling/estimation of the environment dynamics, neither of the compliant robot base dynamics. In fact, based on the impedance control, the proposed controller is capable to online adapt its parameters to track a reference force. The stability of the proposed controller has been proven. The proposed controller has been applied to an industrial scenario. In particular, an assembly task has been selected to validate the control performance. A KUKA iiwa 14 R820 manipulator mounted on a compliant robot base (implementing different dynamic behaviors) and equipped with a Robotiq gripper has been used. The experimental results show the achieved control performance. The results have also been compared with the previous designed control methods.