Compliance Control and Experimental Study of Contact Operation for Manipulator

Aiming at the problem of contact operation of manipulator with uncertain model, a compliant control method was proposed and verified by experiments. When the manipulator contacts with the environment, the force needs to be controlled stably and accurately. If the force is too small, the mission may fail, otherwise it will damage the equipment. Considering that the parameters of the manipulator are not ascertained, the adaptive control method is introduced to solve the problem of control. Taking a typical plug task as an example, the effectiveness of the compliance control method is verified by comparing several groups of experiments. This method is helpful to improve the robustness and intelligence of the manipulator, expand its working range and adaptability.