Casimir based impedance control

Satoru Sakai, Stefano Stramigioli

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

Fingerprint

Closed loop systems
Torque
Control systems
Computer simulation

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
Sakai, Satoru ; Stramigioli, Stefano. / Casimir based impedance control. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. IEEE, 2012. pp. 1384-1391
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Sakai, S & Stramigioli, S 2012, Casimir based impedance control. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224563, IEEE, pp. 1384-1391, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , St. Paul, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224563

Casimir based impedance control. / Sakai, Satoru; Stramigioli, Stefano.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. IEEE, 2012. p. 1384-1391 6224563.

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

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AB - 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.

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