This study presents experimental results for bang-bang impact control using NAC/TDC(NBBIC) for a multi DOF robot. It is observed that NBBIC can be successfully applied for multi degree of freedom robot despite the effect of nonlinear terms and dynamic coupling.
This study presents experimental verification through 3 cases: free space motion, constrained motion and impact control. In constrained motion, the manipulator is commanded to follow small amplitude sinusoidal trajectory on the environment surface. In impact control, the manipulator is commanded to hit the environment at high speed while following a $5^{th}$ trajectory. The experimental results show that Under NBBIC, a multi DOF robot can successfully achieve desired interaction dynamics with one control algorithm without changing controller gains in all three modes: free space, transition and constrained motion. If a robot accidentally hits an environment with high approach velocity while following a desired trajectory or maneuvering around in free space, it can quickly alleviate impact oscillation via the bang-bang action of NAC/TDC.
There are three thresholds in NBBIC algorithm, if the thresholds are not properly selected, they will deteriorate control performance. In order to remedy this problem, a method to choose NBBIC thresholds is proposed, and a guideline for experiment when applying NBBIC is described.
It is shown via experiments that a robot can successfully work with only one control algorithm form free space to constrained motion under the bang-bang Impact control Using NAC/TDC when the gains and thresholds are properly selected.
