Cartesian impedance control for a variable stiffness robot arm

Florian Petit, Alin Albu-Schäffer

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

42 Scopus citations

Abstract

The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited. Therefore we suggest and analyze the use of an active impedance controller in combination with the passive joints to further increase the stiffness range. An algorithm to optimize the passive and active Cartesian stiffness is proposed to achieve a desired Cartesian stiffness as precise as possible. The algorithm was implemented and tested on the VSA robot DLR Hand Arm System. Experimental results and measurements of the active/passive impedance algorithm are shown.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4180-4186
Number of pages7
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

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