Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop

作     者：Garofalo, Gianluca Werner, Alexander Loeffl, Florian Ott, Christian 

作者机构：German Aerosp Ctr Inst Robot & Mechatron D-82234 Wessling Germany 

出 版 物：《IEEE CONTROL SYSTEMS LETTERS》 (IEEE Control Syst. Lett.)

年 卷 期：2019年第3卷第1期

页      面：1-6页

核心收录：

主　　题：Robotics control applications variable-structure/sliding-mode control 

摘      要：A new control law for joint-space impedance in robots with variable impedance actuators is presented. The objective is achieved using reduced information on high order derivatives compared to standard approaches, therefore leading to more reliable interactions with unknown environments. Most importantly, the impedance characteristic is given by the real stiffness and damping coefficients of each actuator, therefore updating strategies of the latter directly modify the system response obtained on the link side. The method is evaluated both in simulations and experiments. Additionally, the control law is also adapted for systems with series elastic actuators.