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In robotic manipulation, end-effector compliance is an essential preconditionfor performing contact-rich tasks, such as machining, assembly, and human-robotinteraction. Most robotic arms are position-controlled stiff systems at ahardware level. Thus, adding compliance becomes essential. Compliance in thosesystems has been recently achieved using Forward dynamics compliance control(FDCC), which, owing to its virtual forward dynamics model, can be implementedon both position and velocity-controlled robots. This paper evaluates thechoice of control interface (and hence the control domain), which, althoughconsidered trivial, is essential due to differences in their characteristics.In some cases, the choice is restricted to the available hardware interface.However, given the option to choose, the velocity-based control interface makesa better candidate for compliance control because of smoother compliantbehaviour, reduced interaction forces, and work done. To prove these points, inthis paper FDCC is evaluated on the UR10e six-DOF manipulator with velocity andposition control modes. The evaluation is based on force-control benchmarkingmetrics using 3D-printed artefacts. Real experiments favour the choice ofvelocity control over position control.

Evaluation of Position and Velocity Based Forward Dynamics Compliance Control (FDCC) for Robotic Interactions in Position Controlled Robots