ICRA 2012 Paper Abstract


Paper TuC310.5

Sakai, Satoru (Shinshu Univ.), Stramigioli, Stefano (University of Twente)

Casimir Based Impedance Control

Scheduled for presentation during the Interactive Session "Interactive Session TuC-3" (TuC310), Tuesday, May 15, 2012, 15:30−16:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Compliance and Impedance Control, Motion Control of Manipulators, Force Control


This paper proposes a new impedance control principle for mechanical systems whose input is not the torque any more. The plant system is exactly and robustly transformed into a mechanical system even in the presence of parameter perturbations. First, we propose a new state space expression of mechanical systems with driving systems based on a natural Casimir function. Second, we propose an impedance control using an artificial Casimir function as well as the natural Casimir function. Third, we analyze a robustness not on the stability but on a behavior from the viewpoint of the closedloop structure. Finally, the validity of the proposed method is confirmed by numerical simulations. Remarkably, the closedloop system keeps the impedance structure robustly and thus achieves a robust behavior.



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