Force and state-feedback control for robots with non-collocated environmental and actuator forces

TL;DR

This paper introduces a force and state-feedback impedance control method for robotic systems, enhancing performance by enabling the controller to better emulate desired impedance behaviors through simultaneous feedback.

Contribution

It presents a novel impedance control design that incorporates both force and state feedback for improved robotic system performance.

Findings

Numerical analysis confirms the effectiveness of the proposed impedance control.

The control design allows for better approximation of desired impedance port behavior.

Enhanced closed-loop performance demonstrated through simulations.

Abstract

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.