Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Abstract
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches.
Cite
@article{arxiv.2503.17533,
title = {Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control},
author = {Leonardo F. Dos Santos and Cícero Zanette and Elisa G. Vergamini and Lucca Maitan and Thiago Boaventura},
journal= {arXiv preprint arXiv:2503.17533},
year = {2025}
}
Comments
Accepted version to be published in the IEEE Latin America Transactions. There were changes aiming to clarify some of the ideas exposed in the paper, which led to the increase in the number of figures and pages. The abstract and the title also changed. The paper now has 8 pages and 10 figures