Unified force-impedance control

摘要

Unified force-impedance control (UFIC) aims at integrating the advantages of impedance control and force control. Compliance and exact force regulation are equally important abilities in modern robot manipulation. The developed passivity-based framework builds on the energy tank concept and is suitable for serial rigid and flexible-joint robots. Furthermore, it is able to deal either with direct force measurements or model-based contact force estimation. Thus, in this theoretical framework, the most relevant practical systems are covered and shown to be stable for arbitrary passive environments. Particular focus is also laid on a robust impedance-based contact/non-contact stabilization methodology that prevents abrupt, unwanted, and potentially dangerous movements of the manipulator in case of contact loss, a well-known problem of both impedance and force control. The validity of the approach is shown in simulation and through various experiments. Our work roots in Haddadin (2015); Schindlbeck and Haddadin (2015), where the basic UFIC regulation controller was proposed. In the present paper, we significantly advance this idea into a complete theoretical UFIC tracking framework, including rigorous stability analysis and extensive experimental evidence.