Abstract
Compliance plays an important role in safe and dependable robots operating in close proximity to human and even directly interact with them in a wide range of domains including industrial and domestic usage. Typical impedance control is a popular complaint control methodology in robotic research community, which imposes a desired dynamic behavior described by a mass-spring-damper system connected in parallel, namely Vogit model. However, if the connection between spring and damper is altered into series manner, namely Maxwell model, a totally different compliance and plastic deformation behavior can be produced. In this paper, stability property of the proposed Maxwell model based impedance controller is studied firstly and a marginally stable conclusion is drawn. Besides, we extend our previous work and propose a novel Cartesian admittance or position-based impedance control scheme which is more suitable to be implemented in most common position-controlled robots. Experiments on a robot platform KUKA LWR 4+ are carried out to validate our methods. Experimental results show that our methods have a promising application in human robot friendly interaction and collaboration.
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