Title :
A tank-based approach to impedance control with variable stiffness
Author :
Ferraguti, Federica ; Secchi, Cristian ; Fantuzzi, Cesare
Author_Institution :
Dept. of Sci. & Methods for Eng. (DISMI), Univ. of Modena & Reggio Emilia, Modena, Italy
Abstract :
In this paper, we present a new impedance control strategy that allows to reproduce a time-varying stiffness. By properly controlling the energy exchanged during the action, we guarantee the system passivity for any choice of the stiffness matrix, especially in case of time-varying stiffness, and therefore a stable behavior of the robot both in free motion and in interaction with an environment.
Keywords :
elasticity; end effectors; human-robot interaction; medical robotics; needles; surgery; time-varying systems; 7-DOF robot manipulator; 7-degree of freedom robot manipulator; energy exchange control; human body; impedance control strategy; needle; puncturing task; robot stable behavior; stiffness matrix; surgeon behavior reproduction; system passivity; tank-based approach; time-varying stiffness; Force; Impedance; Manipulators; Needles; Trajectory; Vectors;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631284
