A novel interconnection of Dynamic Movement Primitives (DMP) with a modified low impedance controlled robot for accurate tracking and compliant robot reactions

In this paper, a novel control scheme is proposed interconnecting a Dynamic Movement Primitives (DMP) system with a modified low impedance controlled robot to achieve compliance to unexpected contact events and high tracking accuracy under the presence of model and task uncertainties. The proposed control scheme is formulated in the joint space and theoretically shown to accurately track the desired trajectory under the presence of uncertainties. Simulations of 2-DOF manipulator model carrying an unknown load under the proposed scheme demonstrate its high tracking accuracy as compared to the low impedance controlled robot while exhibiting highly compliant reactions to external contact forces.