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The insertion task had been implemented before using an industrial robot and a compliant force-torque sensor [lo]. This experiment in addition focused on the auto- matic tracking of the motor block by image processing. Despite a well tuned Cartesian force controller, the insertion process had to be performed much slowlier, because of the well known control problems which oc- cur in case of hard contacts with conventional robots. In this context, the advantage of a compliant manip ulator became clear. Thus it is our strong belief that torque controlled light-weight robots may bring significant advantages, not only in applications which demand mobility, and hence low masses, but also for applications requiring manipulation in contact with unknown environments. Conclusions Three different approaches for implementing com- pliant manipulation were analyzed: impedance, stiff- ness and admittance control. A new controller struc- ture was proposed, which consists of an impedance controller enhanced by local stiffness control. The presented methods were implemented and compared on DLR’s light-weight robots. The proposed con- troller shows up a better performance than classical impedance and stiffness control. Compared to admit- tance control, it has lower geometric accuracy, but higher bandwidth and impedance range. As an ap- plication for the new controller, the insertion of pis- tons into a motor block was described; programming times (by directly guiding the robot), and execution times were drastically reduced compared to conven- tional techniques. References [l] D. Abadia. Comparative analysis development of con- trol systems for the DLR light weight robot. Master’s thesis, DLR, University of Zaragossa, 2000. State feedback controller for flexible joint robots:
A globally stable approach implemented on DLR’s light-weight robots. [2] A. Albu-Schaffer and G. Hirzinger. IEEE International Conference on Intelligent Robotic Systems, pages 1087-1093, 2000. [3] A. Albu-SchWer and G. Hirzinger. Parameter identi- fication and passivity based joint control for a 7DOF torque controlled light weight robot. IEEE Interna- tional Conference of Robotics and Automation, pages [4] F. Caccavale, C. Natale, B. Siciliano, and L. Villani. Six-dof impedance control based on angle/axis repre- sentations. IEEE Transactions on Robotics and Au- tomation, 15(2):289-299, 1999. [5] S. Chen and I. Km. Theory of stiffness control in robotics using the conservative congruence transfor- mation. International Symposium of Robotics Re- search, pages 7-14, 1999. [6] S. Chen and I. Kao. Simulation of conservative con- gruence transformation conservative properties in the joint and Cartesian spaces. IEEE International Con- ference of Robotics and Automation, pages 1283-1288, 2000. [7] G. Hirzinger, A. Albu-Schiiffer, M. Hahnle, I. Schae- fer, and N. Sporer. On a new generation of torque con- trolled light-weight robots. IEEE International Con- ference of Robotics and Automation, pages 3356-3363, 2001. [8] N. Hogan. Impedance control: An approach to ma- nipulation, part I - theory, part I1 - implementation, part I11 - applications. Journ. of Dyn. Systems, Mea- surement and Control, 107:l-24, 1985. [9] N. Hogan. Mechanical impedance of single- and multi- articular systems. In J.M. Winters and S. Woo, ed- itors, Multiple Muscle Systems: Biomechanics and Muscle Organization, pages 149-163.