2020/10/24 by Alejandro Donaire, Luigi Villani, Donaire, Alejandro +7
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Muscle activation and electromyography studies #Optimization and Control (math.OC) #Robot Manipulation and Learning #Robotics (cs.RO) #Soft Robotics and Applications #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2010.12889
openalex publication_date 2020/10/24 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of forces and states allows the controller for an extra degree of freedom to approximate the desired impedance port behaviour. A numerical analysis is used to demonstrate the desired impedance closed-loop behaviour.