Kombinierte Pfad- und Nachgiebigkeitsregelung für ein Portalsystem mit experimenteller Validierung Combined Path Following and Compliance Control with Experimental Validation on a Biaxial Gantry Robot

This work presents an approach to simultaneously but independently control the compliance of a robotic system transversal and tangential to a given path. A subordinate path following controller transforms the nonlinear dynamics into a linear system with decoupled transversal and tangential dynamics via a coordinate transformation and an exact input-output linearization. The outer control loop utilizes admittance control to obtain the desired target compliance in the respective transformed coordinates in the non-contact case. In order to interact with a stiff environment, a parallel position and force controller is exploited. The proposed approach is applied to a biaxial gantry robot. Experimental results demonstrate the feasibility of the concept.