Robot impedance control and passivity analysis with inner torque and velocity feedback loops
Michele FOCCHI
Gustavo A MEDRANO-CERDA
Thiago BOAVENTURA
Marco FRIGERIO
Claudio SEMINI
Jonas BUCHLI
Darwin G CALDWELL
摘要：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.
机标关键词：velocity feedbackexperimental datastability regionfeedback looprange of
论文发表日期：2016-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：16( 97-112 )
英文信息