DocumentCode
3527884
Title
A tank-based approach to impedance control with variable stiffness
Author
Ferraguti, Federica ; Secchi, Cristian ; Fantuzzi, Cesare
Author_Institution
Dept. of Sci. & Methods for Eng. (DISMI), Univ. of Modena & Reggio Emilia, Modena, Italy
fYear
2013
fDate
6-10 May 2013
Firstpage
4948
Lastpage
4953
Abstract
In this paper, we present a new impedance control strategy that allows to reproduce a time-varying stiffness. By properly controlling the energy exchanged during the action, we guarantee the system passivity for any choice of the stiffness matrix, especially in case of time-varying stiffness, and therefore a stable behavior of the robot both in free motion and in interaction with an environment.
Keywords
elasticity; end effectors; human-robot interaction; medical robotics; needles; surgery; time-varying systems; 7-DOF robot manipulator; 7-degree of freedom robot manipulator; energy exchange control; human body; impedance control strategy; needle; puncturing task; robot stable behavior; stiffness matrix; surgeon behavior reproduction; system passivity; tank-based approach; time-varying stiffness; Force; Impedance; Manipulators; Needles; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6631284
Filename
6631284
Link To Document