The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
Stability Considerations for Variable Impedance Control
Open accessAbstract
Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which are often overlooked in practice. In fact, the standard stability analysis is not valid in the case that the impedance parameters vary over time. Simulations show that, depending on how the impedance parameters are varied, stable or unstable behavior can arise even in regulation without contact. In this paper, we elucidate this issue and propose a state-independent stability constraint that relates the stiffness, and also the time derivative of the stiffness to the damping. Our approach is illustrated and evaluated in comparison with an online stabilization method [8] which uses a tank-based stability criterion.
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Cites
Slotine, J.-J. E., & Li, W. (1991) · CERN Document Server (European Organization for Nuclear Research) · Cited by 18,975
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Impedance Control: An Approach to Manipulation
Hogan, N. (1984) · 1984 American Control Conference · doi:10.23919/acc.1984.4788393 · Cited by 2,929
On the Adaptive Control of Robot Manipulators
Slotine, J.-J. E., & Li, W. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600303 · Cited by 2,284
Rugh, W. J., & Shamma, J. S. (2000) · Automatica · doi:10.1016/s0005-1098(00)00058-3 · Cited by 1,790
Automatic Synthesis of Fine-Motion Strategies for Robots
Lozano-Pérez, T., Mason, M. T., & Taylor, R. H. (1984) · The International Journal of Robotics Research · doi:10.1177/027836498400300101 · Cited by 898
Ham, R., Sugar, T., Vanderborght, B., Hollander, K., & Lefeber, D. (2009) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2009.933629 · Cited by 834
Robust control of dynamically interacting systems
COLGATE, J. E., & HOGAN, N. (1988) · International Journal of Control · doi:10.1080/00207178808906161 · Cited by 589
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Jung, S., Hsia, T. C., & Bonitz, R. G. (2004) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2004.824320 · Cited by 478
Metadata
- Authors
- Kronander, K., & Billard, A.
- Venue
- IEEE Transactions on Robotics
- Published
- 2016-10
- Volume
- 32
- Issue
- 5
- Pages
- 1298-1305
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2517641405
- Cited by
- 284
- References
- 27
- FWCI
- 10.66
- Type
- journal article
- Language
- en
- Open access
- green
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