Skip to main content
SpringerLink
Log in
Book cover

Experimental Robotics II pp 1–24Cite as

The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments

  • Section 1: Robot Control
  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

This paper reveals the essential equivalence of second order impedance control and proportional gain explicit force control with feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond. For stiff environments the correspondence is exact. However, even for softer environments similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are presented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensation, have equivalent response to commanded force trajectories.

This work was completed while the author was a member of the Department of Physics, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, 15213

This is a preview of subscription content, log in via an institution.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. C. An and J. Hollerbach. Dynamic stability issues in force control of manipulators. In Proceedings of the IEEE Conference on Robotics and Automation, pages 890–896. IEEE, 1987.

    Google Scholar 

  2. A. Bejczy. Robot arm dynamics and control. Technical Memorandum 33-669, Jet Propulsion Laboratory, Pasadena, CA, February 1974.

    Google Scholar 

  3. S. Eppinger and W. Seering. Understanding bandwidth limitations on robot force control. In Proceedings of the IEEE Conference on Robotics and Automation, pages 904–909, Raleigh, N.C., 1987. IEEE.

    Google Scholar 

  4. A. Goldenberg. Implementation of force and impedance control in robot manipulators. In Proceedings of the IEEE Conference on Robotics and Automation, pages 1626–1632. IEEE, 1988.

    Google Scholar 

  5. W. Hamilton. Globally stable compliant motion control for robotic assembly. In Proceedings of the IEEE Conference on Robotics and Automation, pages 1179–1184. IEEE, 1988.

    Google Scholar 

  6. N. Hogan. Impedance control: An approach to manipulation: Parts i, ii, and iii. Journal of Dynamic Systems, Measurement, and Control, 107:1–24, March 1985.

    Google Scholar 

  7. N. Hogan. Stable execution of contact tasks using impedance control. In Proceedings of the IEEE Conference on Robotics and Automation, pages 1047–1054. IEEE, 1987.

    Google Scholar 

  8. H. Kazerooni, T. Sheridan, and Houpt P. Robust compliant motion for manipulators, parts i and ii. IEEE Journal of Robotics and Automation, RA-2(2):83–105, June 1986.

    Google Scholar 

  9. O. Khatib. Commande Dynamique dans l'Espace Operationnel des Robots Manipulateurs en Presence d'Obstacles. PhD thesis, Ecole Nationale Superieure de l'Aeronautique et del'Espace (ENSAE), December 1980.

    Google Scholar 

  10. O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research, 5(1), 1986.

    Google Scholar 

  11. O. Khatib and J. Burdick. Motion and force control of robot manipulators. In Proceedings of the IEEE Conference on Robotics and Automation, pages 1381–1386. IEEE, 1986.

    Google Scholar 

  12. D. Lokhorst and J. Mills. Implementation of a discontinuous control law on a robot during collision with a stiff environment. In Proceedings of the IEEE Conference on Robotics and Automation, pages 56–61. IEEE, 1990.

    Google Scholar 

  13. J. Luh, M. Walker, and R. Paul. Resolved-acceleration control of mechanical manipulators. IEEE Transactions on Automatic Control, 25(3):468–474, June 1980.

    Google Scholar 

  14. M. Mason. Compliance and force control for computer controlled manipulators. IEEE Transactions on Systems, Man, and Cybernetics, 11(6):418–432, June 1981.

    Google Scholar 

  15. D. Stewart, D. Schmitz, and P. Khosla. Implementing real-time robotic systems using chimera ii. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 598–603. IEEE, May 1990.

    Google Scholar 

  16. R. Volpe. Real and Artificial Forces in the Control of Manipulators: Theory and Experiments. PhD thesis, Carnegie Mellon University, September 1990.

    Google Scholar 

  17. R. Volpe and P. Khosla. Manipulator control with superquadric artificial potential functions: Theory and experiments. IEEE Transactions on Systems, Man, and Cybernetics; Special Issue on Unmanned Vehicles and Intelligent Systems, November/December 1990.

    Google Scholar 

  18. R. Volpe and P. Khosla. Theoretical analysis and experimental verification of a manipulator / sensor / environment model for force control. In Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Los Angeles, November 1990. IEEE.

    Google Scholar 

  19. R. Volpe and P. Khosla. Experimental verification of a strategy for impact control. In Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991. IEEE.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. The Jet Propulsion Laboratory, California Institute of Technology, 91109, Pasadena, California

    Richard Volpe

  2. Department of Electrical and Computer Engineering, The Robotics Institute, Carnegie Mellon University, 15213, Pittsburgh, Pennsylvania

    Pradeep Khosla

Authors
  1. Richard Volpe
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Pradeep Khosla
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Raja Chatila Gerd Hirzinger

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer-Verlag London Limited

About this paper

Cite this paper

Volpe, R., Khosla, P. (1993). The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036127

Download citation

  • DOI: https://doi.org/10.1007/BFb0036127

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation