Passivity Filter for Variable Impedance Control

While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue...

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Published in2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 7159 - 7164
Main Authors Bednarczyk, Maciej, Omran, Hassan, Bayle, Bernard
Format Conference Proceeding
LanguageEnglish
Published IEEE 24.10.2020
Subjects
Control systems
Design methodology
Impedance
Intelligent robots
Safety
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Abstract While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the control system. This has an important impact on the stability and therefore on the safety of the interaction. In this paper, we propose methods to design passivity filters that guarantee passivity of the interaction. They aim at either checking whether a desired impedance profile is passive, or modifying it if required.
AbstractList While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the control system. This has an important impact on the stability and therefore on the safety of the interaction. In this paper, we propose methods to design passivity filters that guarantee passivity of the interaction. They aim at either checking whether a desired impedance profile is passive, or modifying it if required.
Author Omran, Hassan
Bednarczyk, Maciej
Bayle, Bernard
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  fullname: Bayle, Bernard
  organization: University of Strasbourg, CNRS,ICube, UMR 7357,Strasbourg,France,67091
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Snippet While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation....
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StartPage 7159
SubjectTerms Control systems
Design methodology
Impedance
Intelligent robots
Safety
Title Passivity Filter for Variable Impedance Control
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