Adaptive decentralized compliant control of robot manipulators

In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary position tracking error are bounded and will converge to zero asymptotically. On the other hand, when the environment stiffness is not given, the compliant controller above can be used with a motion modification generator such that the force tracking error will converges to a residual set whose size is small if the environment stiffness is large, and the complementary position tracking error is bounded and converges to zero asymptotically.