NDLI: Casimir based impedance control

Content Provider	IEEE Xplore Digital Library
Author	Sakai, S. Stramigioli, S.
Copyright Year	2012
Description	Author affiliation: CTIT and MIRA institute of the University of Twente, Netherlands (Stramigioli, S.) \|\| Faculty of Mechanical Engineering, Shinshu University, Japan (Sakai, S.)
Abstract	This paper proposes a new impedance control principle for mechanical systems which have driving systems whose control input is not the torque any more. It is shown how to transform such mechanical systems with driving systems into another systems with the desired mechanical impedance. Also it is proved that the proposed principle achieves a robustness in the presence of parameter perturbations. First, we propose a new state space expression of mechanical systems with driving systems based on a natural Casimir function. Second, we propose an impedance control using an artificial Casimir function as well as the natural Casimir function. Third, we analyze a robustness not on the closed-loop stability but on the closed-loop structure. Finally, the validity of the proposed method is confirmed by numerical simulations. Remarkably, the closed-loop system keeps the mechanical impedance structure robustly and thus achieves a robust behavior.
Starting Page	1384
Ending Page	1391
File Size	411416
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224563
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechanical systems Impedance Robustness Closed loop systems Torque Equations Mathematical model
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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