Robust Impedance Control for Robot Manipulator
Yoshiharu Nishida*, Takashi Harada*, Nobuaki Imamura*
and Nobuo Kimura*
* Kobe Steel Ltd., 5-5, Takatsukadai 1-chome, Nishi-ku, Kobe 673-02, Japan
Received:October 15, 1991Accepted:November 10, 1991Published:December 20, 1991
Keywords:Impedance control, Robust control, Disturbance, Modeling error, Cartesian space, Observer
In most robust impedance control methods, error factors such as disturbances and modeling errors in the joint space are dealt with. However, the dynamics for an end effector of the manipulator in the Cartesian space is more important than that of the manipulator in the joint space. In this paper, error factors are described in the Cartesian space, and the influence of these factors on the dynamics of the end-effector are considered. A robust controller is designed using either feedback of impedance error or a disturbance observer based on the Cartesian space, and its effectiveness is confirmed through experimental results.
Cite this article as:Y. Nishida, T. Harada, N. Imamura, and N. Kimura, “Robust Impedance Control for Robot Manipulator,” J. Robot. Mechatron., Vol.3 No.6, pp. 470-474, 1991.Data files: