Impedance Control of Robots Using Voltage Control Strategy Revisited

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers using FS, the proposed controller results in fewer numbers of FS and consequently less computational load. These superiorities become more dominant when the manipulator degrees of freedom are increased. Simulation results on a Puma560 manipulator actuated by permanent magnet direct current electrical motors indicate the efficiency of proposed method.