Robot 3D force-based surface-tracking

The problem of control of a robot manipulator performing compliant tasks is addressed. The force and position control is based on the Smith predictor design. For the overall control we are pursuing a behaviour-based architecture approach. The paper describes a 3D surface tracking behaviour controller. The tracking operation is performed in real-time using contact force feedback. Surface tracking is an important operation for self-teaching and exploratory tasks in unknown environments. It can be seen as a first step to the more general and important problem of surface following in contact. A method for tool tip contact frame calibration is presented. Results of simulations and real-time implementation are presented and discussed