An inverse kinematics algorithm for interaction control of a flexible arm with a compliant surface

This paper deals with the problem of controlling the interaction of a multilink flexible arm in contact with a compliant surface. For a given tip position and surface stiffness, the joint and deflection variables are computed using a closed-loop inverse kinematics algorithm. This is based on a suitable Jacobian matrix which includes terms accounting for the static deflections due to gravity and contact force. The computed variables are used as the set-points for a simple joint PD control, thus achieving regulation of the tip position and contact force via a joint-space controller. The scheme is tested in a simulation case study for a planar two-link manipulator. (C) 2001 Elsevier Science Ltd. All rights reserved.