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Position accommodation and compliance control for robotic excavation

A robotic excavator must be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment. A position accommodation control scheme is ideally suited for this task. The position accommodation method described in this study uses a position controller to track a pre-defined trajectory in the absence of a force at the excavator bucket. If a force is detected, the measured force is used, through a compliance controller, to modify the commanded trajectory. This allows for better control of the complete excavation cycle. This paper describes a rheological method for modeling the soil-bucket interaction force and how that method must be modified to suit the unique case of excavation. The results illustrate the difference between a purely position controlled robot and one using a position accommodation/compliance controller, when used to dig a level path