An Integration Method of Admittance Control and Compliance Control for Flexible Interaction Among Human, Robot, and Environment

This paper presents a compliance-based controller tailored to address potential environmental interactions encountered by a plant during its motion. The controller’s application involves empowering an operator to delineate a trajectory through the exertion of an input force. This trajectory must be followed while permitting a prescribed degree of compliance, thereby facilitating soft contact with the environment. This capability enhances the system’s ability to smoothly interact with non-fixed obstacles. However, scenarios requiring sustained contact necessitate the implementation of a force-based controller. Consequently, the proposed controller integrates an admittance controller for trajectory generation and a variable position-based compliance controller to regulate interactions with the environment effectively.