MATLAB code to replicate the results of the paper titled Compliance Control of an Electro-Hydraulic Large-Scale Manipulator for Robotic On-Site Construction.
To evaluate the compliance control scheme, two experiments were carried out:
First, a constant force was applied in longitudinal and in lateral direction of the main arm. The data recorded in this experiment is stored in rec_compliance_x.mat for longitudinal and rec_compliance_y.mat for lateral direction. They allow for qualitative and quantitative evaluation the compliance control.
Second, an imitated assembly process is carried out in a laboratory to evaluate applicability in realistic scenarios. The corresponding recorded data is provieded in rec_compliance_assembly.mat.
All of the data files contain the following signals:
- the control mode (to detect the time at which compliance control was started)
- the observed pose of the tool center point (TCP)
- the initial pose of the TCP
- the planned trajectory for the pose of the TCP
- the target pose of the TCP computed from the trajectory and the compliance
- the specified admittance values
- the activation vector for admittances in each direction
- the measured forces and torques at the coupling between manipulator and endeffector
plot_compliance.m is a script that loads the three .mat files and creates the plots used in the paper from the contained data.
For the first experiment, the measured forces are plotted over the time. Additionally, a second plot for each direction (x- and y-direction) is created with the measured position as well as the desired position according to the desired compliance and the measured force, both in the respective direction.
For the application scenario, the force curves in x- and y-direction are plotted over the time, including indicators for times at which contact to the environment is established. A last plot shows the position in x- and y-direction, comparing its planned trajectory when no force is measured, its desired trajectory when artificially inducing compliance according to the measured forces and the observed trajectory that the manipulator realized during the experiment.
To run the code, simply type plot_compliance;
Outputs: plots of forces, positions and position deviations used to validate the concept introduced in the paper
(2026-09-22)
