Interaction Control for Manipulator with compliant end-effector based on hybrid position-force control

This paper aims to explore the interaction control between manipulator and the environment. The ideal goal is enabling the manipulator to complete a series of position/force tasks and interact with the unknown environment. The attainment of this goal can be prevented that the manipulator is non-backdrivable, force can't be controlled directly, thus a compliant end-effector is adopted. Then the compliance of the manipulator and the tool is modelled based on iTaSC (instantaneous task specification using constraints), so as to relate forces and position/velocities in the output space and realize the contact force control. At last the proposed control scheme is tested on a contour tracking task to confirm that the proposed modeling approach obtains a good behavior of force interaction control.