Title :
Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation
Author :
Mosadeghzad, M. ; Medrano-Cerda, G.A. ; Tsagarakis, Nikos ; Caldwell, D.G.
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy
Abstract :
This paper investigates the performance of impedance control utilizing an inner loop PI torque controller. Stiffness and damping shaping vary within a specified range of values. The impedance control problem is formulated taking into account a specified range of stiffness and damping parameters. The analysis and design is carried out in discrete time. Stability, passivity, impedance emulation as well as disturbance (friction/torque ripple) attenuation properties are discussed. The controller is evaluated on a series elastic actuator and some experimental results are presented.
Keywords :
PI control; actuators; damping; discrete time systems; elasticity; manipulator dynamics; stability; torque control; damping parameters; discrete time; disturbance attenuation; impedance control problem; impedance emulation; inner loop PI torque controller; passivity; series elastic actuator; stability; stiffness; Bandwidth; Damping; Gain; Gravity; Impedance; Stability analysis; Torque; Disturbance attenuation; Impedance control; Impedance emulation; Torque control;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739678
