Force and state-feedback control for robots with non-collocated environmental and actuator forces
Robotics
2020-10-27 v1 Systems and Control
Systems and Control
Optimization and Control
Abstract
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.
Keywords
Cite
@article{arxiv.2010.12889,
title = {Force and state-feedback control for robots with non-collocated environmental and actuator forces},
author = {Alejandro Donaire and Luigi Villani and Fanny Ficuciello and Juan Tomassini and Bruno Siciliano},
journal= {arXiv preprint arXiv:2010.12889},
year = {2020}
}