English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Impedance control is a well-established technique to control interactionforces in robotics. However, real implementations of impedance control with aninner loop may suffer from several limitations. Although common practice indesigning nested control systems is to maximize the bandwidth of the inner loopto improve tracking performance, it may not be the most suitable approach whena certain range of impedance parameters has to be rendered. In particular, itturns out that the viable range of stable stiffness and damping values can bestrongly affected by the bandwidth of the inner control loops (e.g. a torqueloop) as well as by the filtering and sampling frequency. This paper providesan extensive analysis on how these aspects influence the stability region ofimpedance parameters as well as the passivity of the system. This will besupported by both simulations and experimental data. Moreover, a methodologyfor designing joint impedance controllers based on an inner torque loop and apositive velocity feedback loop will be presented. The goal of the velocityfeedback is to increase (given the constraints to preserve stability) thebandwidth of the torque loop without the need of a complex controller.

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops