Impedance control using a cascaded loop force control - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2018

Impedance control using a cascaded loop force control

Commande en impédance par une boucle d'effort.

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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Dates and versions

hal-01845977 , version 1 (20-07-2018)

Identifiers

  • HAL Id : hal-01845977 , version 1

Cite

Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. Impedance control using a cascaded loop force control. IEEE Robotics and Automation Letters, 2018. ⟨hal-01845977⟩
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