Contact stability issues in position based impedance control: theory and experiments

Manipulation and Control

“…Since then a vast literature has been published around the topic in order to cope with pitfalls of the original description or deal with implementation issues. For instance, Hogan itself [23] and later other authors [24] analyzed the stability of the impedance control law or the instability originated after contacting stiff environments [25]. In order to tackle the problem of the uncertainty on the parameters of the environment model as well as of the robot, some works propose adaptive [26][27][28][29] or robust [30,31] impedance control strategies that would deal with uncertainties.…”

Control of Robot Interaction Forces Using Evolutionary Techniques

“…To include this additional measure on the evolution of the controller, the following criteria was used for a second series of controllers. The contact stability criterion described in (Surdilovic (1996)) is applied on each individual in order to be selected as final solution. This criterion ensures that the contact with the environment is stable and no oscillations occur at the contact.…”

Flexible FPGA-based controller architecture for five-fingered dexterous robot hand with effective impedance control

“…The external torque vector, τ ext , and the generalized actuator torque vector, τ m , are considered as the control inputs. A classical position-based impedance controller (PBIC) [13] is realized to demonstrate the performance of the proposed hardware architecture. The block diagram of feedback control is shown in Fig.…”