This paper presents a compliant motion control framework for multiple contacts distributed over multiple links. The one link multi-contact control approach implemented in our previous work has been extended to contacts over multiple links. Experimental results demonstrate three point contact control on two links of a PUMA560 manipulator. A robust force control design is implemented with a Kalman estimator and full state feedback method to compensate for the modeling errors of the manipulator and environment.
['Jaeheung Park', 'Oussama Khatib']
Multi-Link Multi-Contact Force Control for Manipulators