Patent attributes
A control system and method for generalized admittance control (AC) is provided. The control system includes circuitry communicatively coupled to a robotic manipulator. The circuitry receives, from a sensor system of the robotic manipulator, contact force measurements associated with a physical interaction of the robotic manipulator with an object. The circuitry determines a surface portion of the robotic manipulator on which the physical interaction with the object occurs and samples a set of interaction points from the surface portion. The circuitry computes a generalized velocity for AC of the robotic manipulator by minimizing a cost function. The cost function includes a relationship between the contact force measurements and an approximation term which models application of an actual contact force of the physical interaction on the sampled set of interaction points. The circuitry generates a set of joint control instructions based on generalized velocity to control motion of the robotic manipulator.
