Impedance control for industrial robots

摘要

A new impedance controller is presented. Special attention has been paid to all those aspects that qualify an industrial robot, including decentralized PID positional control, torsional flexibility and friction at the joints. Discussion of a single degree of freedom case proved to be valuable in the design of the impedance controller for a complete manipulator. Several experimental results obtained on a 6 degrees-of-freedom industrial robot equipped with a force/torque sensor, are given.