A Solution to the Accuracy/Robustness Dilemma in Impedance Control

Citation data:

IEEE/ASME Transactions on Mechatronics, ISSN: 1083-4435, Vol: 14, Issue: 3, Page: 282-294

Publication Year:
2009
Usage 5
Abstract Views 4
Link-outs 1
Captures 31
Readers 31
Citations 45
Citation Indexes 45
Repository URL:
http://scholarworks.unist.ac.kr/handle/201301/13413
DOI:
10.1109/tmech.2008.2005524
Author(s):
Kang, Sang Hoon, Jin, Maolin, Chang, Pyung Hun
Publisher(s):
Institute of Electrical and Electronics Engineers (IEEE), IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Tags:
Engineering, Computer Science, Force control, Impedance control, Internal model control (IMC), Time-delay control
article description
It has been reported that, in impedance control, there exists a dilemma between impedance accuracy and robustness against modeling error. As a solution to this dilemma, an accurate and robust impedance control technique is developed based on internal model control structure and time-delay estimation: the former injects desired impedance and corrects modeling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators. Owing to the simple structure, the proposed control is designed without requiring entire model computation or complex algorithms. In 2-DOF SCARA-type robot experiments, the accuracy and robustness of the proposed control are confirmed through comparisons with other competent controllers including impedance control with disturbance observer. © 2009 IEEE.