Optimization-based robot impedance controller design

摘要

Impedance control is a compliance control strategy capable of accommodating both unconstrained and constrained motion. The performance of impedance controllers depend heavily upon environment dynamics and the choice of target impedance. To maintain performance for a wide range of environment dynamics, target impedance needs to be adjusted accordingly. In this paper, a geometrical view on impedance control for target impedance selection is presented. Furthermore, analytical linear quadratic optimal control methodology is employed to tune the manipulator target impedance parameters for an optimum performance, requiring trade-off between position and force regulation. The performance of the proposed controllers is evaluated by numerical simulations.