Title | Optimal selection of manipulator impedance for contact tasks |
Publication Type | Conference Paper |
Year of Publication | 2004 |
Authors | DiMaio, S. P., K. Hashtrudi-Zaad, and S. E. Salcudean |
Conference Name | Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on |
Pagination | 4795 - 4801 Vol.5 |
Date Published | apr. |
Keywords | contact tasks, force control, impedance matching, manipulator dynamics, manipulator impedance, numerical optimisation analysis, optimal control, optimisation, position control, robotic manipulators |
Abstract | This paper addresses position and force control of robotic manipulators that are in contact with environments that exhibit mechanical impedances covering a large continuous range, from very soft to very stiff. For robot programming, automation, teleoperation and haptics, such environments enforce a trade-off between position and force control, which can be accommodated by impedance controllers. In this work, we extend the concept of duality and consider impedance matching in order to optimise a combined position and force trajectory error metric. The analysis of numerical optimisation results provides clear guidance on the choice of target impedance parameters, based on environment and manipulator dynamics. |
URL | http://dx.doi.org/10.1109/ROBOT.2004.1302477 |
DOI | 10.1109/ROBOT.2004.1302477 |