Quadratic optimization of impedance control

Author

Johansson, Rolf ; Spong, Mark W.

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

fYear

1994

fDate

8-13 May 1994

Firstpage

616

Abstract

This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control

Keywords

Lyapunov methods; force control; matrix algebra; optimal control; optimisation; position control; robots; stability; Hamilton-Jacobi equation; Lyapunov function; continuous-time quadratic optimization; force control; global asymptotic stability; impedance control; impedance matrices; linear quadratic optimal control; rigid-body motion control; square weighting matrices; Automatic control; Equations; Force control; Impedance; Manipulators; Motion control; Optimal control; Robot kinematics; Stability; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351417

Filename

351417