Proof of Concept of Impedance Control on a Didactic Manipulator

Felipe Augusto Rizzi; Gabriel Alencar Jeronimo Antonio; Bruno Augusto Angelico

doi:10.20906/sbai.v1i1.2718

Felipe Augusto Rizzi Escola Politécnica, Universidade de São Paulo, SP
Gabriel Alencar Jeronimo Antonio Escola Politécnica, Universidade de São Paulo, SP
Bruno Augusto Angelico Escola Politécnica, Universidade de São Paulo, SP

DOI: https://doi.org/10.20906/sbai.v1i1.2718

Keywords: Position Control, Impedance control, Interaction Control, Robotic Manipulation, Simulation, Ultrasound System, Hybrid Position/Force Control, Passivity

Abstract

Traditionally, the control of manipulators targets position or force tracking and numerous well succeed and high precision solutions have been developed over the last decades. However, for some applications, single force or position control are not efficient, and a specified relationship between both must be imposed. This paper describes the implementation of impedance control technique over a didactic manipulator, as a proof of concept.The performance achieved is limited by the quality and number of axis of force measurement, as well as the quality of actuators.