Impedance control facilitates the execution of tasks that involve contact with the environment. However, task performance depends on the accuracy at which the desired impedance is attained. This paper focuses on feedback methods for implementing impedance control and reveals the underlying conflict between impedance accuracy and robustness to uncertainties. Furthermore, we propose a novel yet practical method that facilitates robustness while maintaining accurate impedance tracking. Eigenvalue analysis and simulation results are presented to demonstrate the accuracy/robustness dilemma and the relative merits of the different methods.
Accuracy/Robustness Dilemma in Impedance Control
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division October 29, 2001; final revision, January 23, 2003. Associate Editor: Y. Chait.
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Valency, T., and Zacksenhouse, M. (September 18, 2003). "Accuracy/Robustness Dilemma in Impedance Control ." ASME. J. Dyn. Sys., Meas., Control. September 2003; 125(3): 310–319. https://doi.org/10.1115/1.1590685
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