Impedance control using a cascaded loop force control

Abstract : —In this paper, a cascaded loop force control is implemented on a robot while considering the flexibility of the force sensor connecting the end effector to the tool. A classical frequency approach using a bandwidth and a phase margin is used to tune this controller. The aim is to find an equivalence between the proposed control law and a classical impedance control law. The apparent impedance of this system is calculated and can be seen as the desired impedance for a classical impedance control law. Using this equivalence the cascaded loop force controller can be tuned as an impedance controller, and can be shown to behave equivalently in simulations and experiments on a one degree of freedom (dof) robot.
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https://hal.archives-ouvertes.fr/hal-01687041
Contributor : Sylvain Devie <>
Submitted on : Thursday, January 18, 2018 - 10:06:48 AM
Last modification on : Tuesday, March 26, 2019 - 9:25:21 AM

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  • HAL Id : hal-01687041, version 1

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Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. Impedance control using a cascaded loop force control. IEEE International Conference on Robotics and Automation (ICRA), In press. ⟨hal-01687041⟩

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