Optimal selection of manipulator impedance for contact tasks

TitleOptimal selection of manipulator impedance for contact tasks
Publication TypeConference Paper
Year of Publication2004
AuthorsDiMaio, S. P., K. Hashtrudi-Zaad, and S. E. Salcudean
Conference NameRobotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Pagination4795 - 4801 Vol.5
Date Publishedapr.
Keywordscontact tasks, force control, impedance matching, manipulator dynamics, manipulator impedance, numerical optimisation analysis, optimal control, optimisation, position control, robotic manipulators

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.


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