Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment

The present work proposes an Adaptive Compliant Control scheme based on a closed-form output-redefined and perturbed dynamic model of a Single-link Flexible Manipulator (SLFM) in Unknown Environment. The control scheme is composed of inner and outer controllers. The inner control is designed based on Two-Time Scale Adaptive Robust Control (TTARC) to ensure fast and precise motion control, while the outer control is based on the impedance dynamics aiming to offer a desired compliant behavior in constrained motion. External force is estimated based on the extended Kalman Filter (EKF). The stability of the closed-loop system is verified through Lyapunov theory. The effectiveness of the overall control scheme is verified through simulation.