Regulator of minimal variance in hybrid control strategy of manipulation robots

A control strategy of manipulation robots in contact tasks such as robot cutting, surface grinding, polishing, and deburring is proposed. A digital force regulator of minimal variance has been applied in the case of an unknown, exterior system disturbance (such as workpiece surface roughness) during the robot cutting process. This regulator has been used to minimize an output signal variance and control signal oscillation. Stability conditions of the closed-loop control system are derived and discussed. A position/velocity controller is synthesized in Cartesian coordinate space to enable trajectory tracking during a desired technological operation. Based on simulation results some advantages of this control algorithm are outlined.