Paper Info
Title
Stability Considerations for Variable Impedance Control.
Abstract
Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which are often overlooked in practice. In fact, the standard stability analysis is not valid in the case that the impedance parameters vary over time. Simulations show that, depending on how the impedance parameters are varied, stable or unstable behavior can arise even in regulation without contact. In this paper, we elucidate this issue and propose a state-independent stability constraint that relates the stiffness, and also the time derivative of the stiffness to the damping. Our approach is illustrated and evaluated in comparison with an online stabilization method [8] which uses a tank-based stability criterion.
Year
DOI
Venue
2016
10.1109/TRO.2016.2593492
IEEE Trans. Robotics
Keywords
Field
DocType
Impedance,Stability criteria,Damping,Robots,Asymptotic stability,Adaptive control
Impedance parameters,Stability criterion,Control theory,Time derivative,Electrical impedance,Control engineering,Exponential stability,Impedance control,Control system,Adaptive control,Mathematics
Journal
Volume
Issue
ISSN
32
5
1552-3098
Citations 
PageRank 
References 
25
1.03
20
Authors
2
Name
Order
Citations
PageRank
Klas Kronander11366.91
Aude Billard23316254.98