What exactly is active compliance control in robotics joint? Why Is it used ? How can I write a program to simulate the compliance control in matlab for a single robotic link or single robotic joint ? I have to develop an algorithm for torque control. I have to sense the torque and give feedback to BLDC motor which is supposed to apply some controlled torque. I also have some unclear understanding of few things: Lets say I have single joint two link systems, How would this system behave when I have applied the compliance control algorithm at the joint? How will I test it? I mean if I apply some external torque what should it do so that I understand that it is in compliance control mode. Here is a related paper. http://www.thehandembodied.eu/pdf/ICCAS.pdf
I was hoping you would elaborate your question because it is pretty vague. There are two kinds of robot arm compliance: passive and active.
Passive compliance is a property of the physical system. For example a soft end-effector, a spring in line with the motor (aka series elastic actuation), or a flexible link. If you know all the parameters of the arm such as masses, moments of inertia, spring, and damper coefficients, you can determine various characteristics of the arm. For example, how the arm will behave when given a step input. This is a standard control problem.
Active compliance uses sensing in the arm and/or end-effector to sense external forces on the arm, then move the joints accordingly. This is closely related to force control. In the industrial world, this could be applying the right amount of force during some machining operation. For arms in human environments, this could be moving out of the way when a user pushes the arm.