TY - GEN
T1 - Zero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Saldarriaga, Carlos
AU - Kao, Imin
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper presents an analytical methodology and experimental study to identify quantitatively the zero-potential-energy (ZP) motion due to the stiffness matrices in Cartesian impedance control of redundant manipulators. This mode of motion, analogous to the rigid-body mode in classic mechanical systems, shows up as a result of the redundancy of the robot and creates a steady-state deviation from its initial configuration after it reaches equilibrium when subject to a perturbation, because of the principle of least energy for dynamic systems. We determine such ZP motion(s) by utilizing a vibration-based closed-form solution recently developed. We identify and provide experimental validation of the existence of the ZP motions on a 7 DoF Panda robot.
AB - This paper presents an analytical methodology and experimental study to identify quantitatively the zero-potential-energy (ZP) motion due to the stiffness matrices in Cartesian impedance control of redundant manipulators. This mode of motion, analogous to the rigid-body mode in classic mechanical systems, shows up as a result of the redundancy of the robot and creates a steady-state deviation from its initial configuration after it reaches equilibrium when subject to a perturbation, because of the principle of least energy for dynamic systems. We determine such ZP motion(s) by utilizing a vibration-based closed-form solution recently developed. We identify and provide experimental validation of the existence of the ZP motions on a 7 DoF Panda robot.
UR - https://www.scopus.com/pages/publications/85125480461
U2 - 10.1109/ICRA48506.2021.9560809
DO - 10.1109/ICRA48506.2021.9560809
M3 - Conference contribution
AN - SCOPUS:85125480461
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2548
EP - 2554
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -