Robot impedance control and passivity analysis with inner torque and velocity feedback loops

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• 作者：Michele Focchi ; Gustavo A. Medrano-Cerda…
• 刊名：Control Theory and Technology
• 出版年：2016
• 出版时间：May 2016
• 年：2016
• 卷：14
• 期：2
• 页码：97-112
• 全文大小：1,520 KB
• 刊物类别：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Rob
• 刊物主题：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Robotics, Mechatronics;
• 出版者：South China University of Technology and Academy of Mathematics and Systems Science, CAS
• ISSN：2198-0942
• 卷排序：14

文摘

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. In particular, the viable range of stable stiffness and damping values can be strongly affected by the bandwidth of the inner control loops (e.g., a torque loop) as well as by the filtering and sampling frequency. This paper provides an extensive analysis on how these aspects influence the stability region of impedance parameters as well as the passivity of the system. This will be supported by both simulations and experimental data. Moreover, a methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented. The goal of the velocity feedback is to increase (given the constraints to preserve stability) the bandwidth of the torque loop without the need of a complex controller.KeywordsImpedance controltorque controlpassivity and stability analysis