Performance of manipulator actuators fitted with covariant control

The dynamic performance of robots and manipulators are greatly influenced by the actuator characteristics used to actuate the joints of these mechanisms. The servo actuator characteristics are governed by the force/torque generation process, the energy conversion process and the type of control system used. Research into the dynamics of bilateral servo control systems for use in force-reflecting master-slave manipulators has led to the identification of energy covariables associated with `non-contact´ inertial tasks and `in-contact´ compliant tasks. The use of covariant control based on these energy covariables provide an fundamental basis to synthesize efficient control systems. It can be used around an actuator to reduce the anomalies arising from torque generation and varying load dynamics. The authors describe experimental work which has demonstrated the unique properties of covariant control applied to manipulators