| This dissertation presents a scheme for extending compliant-motion automatic control of machines, including robotic manipulators. Compliant motion encompasses an important class of tasks which require substantial contact with the environment, such as mechanical assembly insertions. These tasks have thwarted development in the field of robotics and automation, and are fertile for improved automation. Impedance control is utilized to facilitate control of constrained motion as well as unconstrained machine motion.;Control in real-time is necessary to most of these applications. Toward this end, adaptive control is utilized herein. Adaptive control reduces the need for knowledge of parameter values of the robotic system dynamics, the environment and the payload. The controllers are computationally efficient, intended for on-line robot control. |
