Adaptive Interaction Controller for Compliant Robot Base Applications

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 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 on-line 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. Experimental results show the achieved control performance. Results have been also compared with previous designed control methods.