Parameter Determination Technique for Impedance Control of Interactive Robots Using Transformation Matrices

摘要

Interactive robots are usually equipped with impedance control, which is a technique to modulate the system’s dynamics. The degree change in the system’s parameters has been left as a challenging problem, even when the environment is completely known. This paper presents a novel methodology to determine the system’s desired performance. It is shown that for a known model of an environment, appropriate scaling can be performed to obtain the desired values for the robot. Experimental results with known environments are shown to validate the proposed methodology and demonstrated that the system’s performance satisfactorily meet the requirements.