Impedance control for articulated robot of 6 degree-of-freedom in consideration of critically damped condition with an object dynamics

This paper presents a new position-based impedance control that can take into account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to an industrial robot whose servo system is opened or to implement it in computer simulations. In order to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using information on inertia matrices. Simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning