Multi-Constraint Compliance Control for Robotic Systems Based on Control Barrier Function

With the continuous development of technology, the application of robotics in various fields has become more and more extensive. The tasks of robot interaction with human and environment have attracted much attention. When designing control algorithms, we should take compliance and safety of the robot into consideration. In this paper, a multi-constraint compliance control method with strict force and position constraints is designed based on impedance control and control barrier function. Firstly, the dynamics of the robot is constructed by Lagrange method. Then based on the impedance control method and combined with the robot dynamics equations, the robot compliance controller is constructed. In order to have strict force constraint and position constraints, this paper designs the contact force constraint and position constraints by using high-order control barrier function. Then integrating them by using the form of quadratic programming, in order to minimize the modification of the nominal controller. Finally, the designed multi-constraint compliance control method is simulated using MATLAB. The validity of the expectation target when it is a fixed value is first tested, after which the test is repeated by varying the control targets to verify the effect of the safety controllers. The results of the final simulation prove that the designed multi-constraint compliance control method in this paper can implement strict force and position constraints with compliance. The method in this paper is effective.