Environmental adaptive PVFC for a robot manipulator

Adaptive passive velocity field control (PVFC) is proposed for a robot manipulator to interact with its uncertain environmental geometric constraints. This approach first parameterizes the desired velocity vector field by the weighted combination of a set of basis vector fields. Force feedback is then used to adjust the weight parameters so as to modify the desired velocity field to approach the real environmental geometric constraints. Simulation studies of a 2-DOF robot interact with an uncertain circle show the effectiveness of our approach.