Casimir based impedance control

Satoru Sakai*, Stefano Stramigioli

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    6 Citations (Scopus)

    Abstract

    This paper proposes a new impedance control principle for mechanical systems which have driving systems whose control input is not the torque any more. It is shown how to transform such mechanical systems with driving systems into another systems with the desired mechanical impedance. Also it is proved that the proposed principle achieves a robustness 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 closed-loop stability but on the closed-loop structure. Finally, the validity of the proposed method is confirmed by numerical simulations. Remarkably, the closed-loop system keeps the mechanical impedance structure robustly and thus achieves a robust behavior.

    Original languageEnglish
    Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    PublisherIEEE
    Pages1384-1391
    Number of pages8
    ISBN (Electronic)978-1-4673-1405-3
    ISBN (Print)9781467314039
    DOIs
    Publication statusPublished - 1 Jan 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012

    Conference

    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    CountryUnited States
    CitySt. Paul
    Period14/05/1218/05/12

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  • Cite this

    Sakai, S., & Stramigioli, S. (2012). Casimir based impedance control. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1384-1391). [6224563] IEEE. https://doi.org/10.1109/ICRA.2012.6224563