Hybrid impedance control of robotic manipulators

摘要

This work presents a new algorithm for controlling the contact forces of a robotic manipulator. The algorithm, to be called hybrid impedance control (HIC), combines two fundamental force control strategies; hybrid position/force control, and impedance control. A duality condition is defined which specifically determines how the manipulator should respond for a given environment. A system-theoretic approach is utilized to motivate the algorithm, and specific examples are developed to illustrate it.