Theoretical and experimental studies of compliant motion control for robot manipulator

Kuo Chiang Cha*, Yu Shan Chen

*Corresponding author for this work

Research output: Contribution to journalJournal Article peer-review


The fact that most robot manipulators already have some kind of tracking controllers and, however, studies of the force controllers are more limited is the motivation behind our approach. A nonlinear approach is presented here in the input/output sense for the stability of robot's compliant motion. For stability, we show that there must exist some compliance either in the robot or in the environment. According to the `sufficient' stability criteria, smaller compliance either in the robot or in the environment leads to a narrower stability range. We verify the sufficient stability condition via experiments using a Cartesian manipulator. Some experiments have been performed to demonstrate that the stability criterion is only a sufficient condition. If the condition is satisfied, the stability is guaranteed. However, if the condition is violated, no conclusion can be made. Finally, by knowing disturbance-compliance function, environment dynamics and robot dynamics with tracking controller, we can choose a compensator to shape the contact force if the sufficient stability condition is satisfied.

Original languageEnglish
Pages (from-to)167-178
Number of pages12
JournalZhongguo Hangkong Taikong Xuehui Huikan/Transactions of the Aeronautical and Astronautical Society of the Republic of China
Issue number2
StatePublished - 06 2000
Externally publishedYes


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