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Variable admittance control algorithm for robots based on task-space boundary constraints
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DOI：10.1038/s41598-026-49213-8.png)
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Abstract
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To address the challenges of compliance and safety in robot direct teaching within a constrained task space, this paper proposes a variable admittance control algorithm based on task-space boundary constraints. First, the forward kinematics of a SCARA robot are solved using the exponential product method, and its operational workspace is determined via the Monte Carlo method, within which the teaching task space is defined. A virtual repulsive force, correlated with the distance to the boundary, is introduced when the robot end-effector approaches the task-space limits. The core of the proposed algorithm lies in dynamically adjusting the virtual inertia and damping parameters of the admittance controller based on the combined input of this virtual force and the human teaching force. Specifically, as the resultant force decreases near the boundary, the damping is increased to achieve smooth deceleration and avoid impulsive stops. Simulations against a fixed-parameter admittance control strategy were conducted to validate the algorithm’s performance, followed by experimental validation on a SCARA robot platform. The simulation results demonstrate that, unlike the conventional method which tends to cause abrupt stops at the boundary, the proposed approach enables the robot to decelerate progressively and stop compliantly. The stability analysis and numerical simulations (Sects. 3.3 and 3.6) confirm that the admittance control system is asymptotically stable with no oscillation. Experimental results further validate that the robot stops within the predefined task space without overshoot, with a steady-state positioning error within 6 mm and no post-stop oscillations observed, significantly enhancing the safety and interactive compliance of the direct teaching operation.
Keywords:
Variable admittance control
Task-space boundary constraints
SCARA robot
Compliance control
Safety in robotics
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