Impedance control facilitates the execution of tasks that involve contact with the environment. However, task performance depends on the accuracy at which the desired impedance is attained. This paper focuses on feedback methods for implementing impedance control and reveals the underlying conflict between impedance accuracy and robustness to uncertainties. Furthermore, we propose a novel yet practical method that facilitates robustness while maintaining accurate impedance tracking. Eigenvalue analysis and simulation results are presented to demonstrate the accuracy/robustness dilemma and the relative merits of the different methods.

Issue Section:
Technical Papers
Keywords:
robot dynamics, robot kinematics, stability, eigenvalues and eigenfunctions, tracking, damping, position control, mechanical variables control
Topics:
Control equipment, Damping, Eigenvalues, Errors, Robots, Robustness, Stiffness, Trajectories (Physics), Uncertainty, Dynamics (Mechanics)
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