Adaptive control of robotic manipulators subject to minimisation of flexible workpiece deformation

A manipulation control strategy is developed for robotic devices handling flexible workpieces in order to limit workpiece deformation and minimise path traversal time. An adaptive control strategy which requires no knowledge of plant parameters-the minimal control synthesis (MCS) - is used for both manipulator position control and trajectory planning. The trajectory adapts to meet time-in-flight and workpiece deformation constraints using feedback of the workpiece motion. The path tracking requirements are performed by an inner control loop using a decentralised form of MCS. This manipulation strategy was validated on a robotic manipulator using a generic mechanical model of a flexible workpiece. Test results indicate that the strategy is successful in meeting the system performance requirements