Relationship of position-based impedance control to explicit force control: theory and experiments

Documents an analysis that is performed showing previously unremarked differences between the position-based formulation of impedance control and the more common torque-based formulation. A commonly used relationship between gains in an impedance controller and its equivalent explicit force controller is shown true only for torque-based formulations of impedance control. A new relationship is derived for a position-based impedance control. Experimental results verify this relationship in a force regulating application, performed on a hydraulic robot