A survey of robot interaction control schemes with experimental comparison

A great many control schemes for a robot manipulator interacting with the e nvironment have been developed in the literature in the past two decades. T his paper is aimed at presenting a survey of robot interaction control sche mes for a manipulator, the end effector of which comes in contact with a co mpliant surface. A salient feature of the work is the implementation of the schemes on an industrial robot with open control architecture equipped wit h a wrist force sensor. Two classes of control strategies are considered, n amely, those based on static model-based compensation and those based on dy namic model-based compensation. The former provide a good steady-state beha vior, while the latter enhance the behavior during the transient. The perfo rmance of the various schemes is compared in the light of disturbance rejec tion, and a thorough analysis is developed by means of a number of case stu dies.