Adaptive Interaction Controller for Compliant Robot Base Applications

The aim of this paper is to design an adaptive interaction controller to deal with compliant baserobotic systems executing interaction tasks (e.g., assembly tasks). The main goal of such controller is toavoid the force-overshoots while compensating the robot base dynamics. The proposed controller does notrequire 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 totrack a reference force. The stability of the proposed controller has been proven. The proposed controllerhas been applied to an industrial scenario. In particular, an assembly task has been selected to validate thecontrol performance. A KUKA iiwa 14 R820 manipulator mounted on a compliant robot base (implementingdifferent dynamic behaviors) and equipped with a Robotiq gripper has been used. The experimental resultsshow the achieved control performance. The results have also been compared with the previous designedcontrol methods.