Synthesis of compliant motions in moving environments: experimental results

This paper presents a methodology to synthesize robot compliant motions in environments that can move or oscillate due to random disturbances. Motions of the environment are taken into account in the task frame position which is considered unknown and time-varying but bounded. The position, velocity and force responses of the coupled robot/environment system are determined and tasks are expressed as inequality constraints on these expressions. A set of controller parameters is found by fitting the largest possible uncertainty box inside the region of the impedance parameter space that satisfies all task constraints. Experimental results demonstrate the validity and robustness of the approach.