Force and state-feedback control for robots with non-collocated environmental and actuator forces
This work addresses control challenges for robotic systems in applications like manipulation or interaction, but it appears incremental as it builds on existing impedance control methods with feedback enhancements.
The paper tackles the problem of controlling robots with non-collocated forces by presenting an impedance control design that uses force and state feedback to improve closed-loop performance, achieving the desired impedance behavior as demonstrated through numerical analysis.
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of forces and states allows the controller for an extra degree of freedom to approximate the desired impedance port behaviour. A numerical analysis is used to demonstrate the desired impedance closed-loop behaviour.