Acceleration based Force-Impedance Control

A.M. Lopes and F. Almeida (Portugal)


Force control, Impedance control, Robot control, Parallel manipulators


An acceleration based force-impedance controller is presented in this paper. The proposed strategy involves three cascade controllers: an inner acceleration controller, an impedance controller, and an outer force controller. This enables two kinds of manipulator behaviour: force limited impedance control and position limited force control. The type of behaviour only depends on the chosen manipulator trajectories. Experimental results of a force-impedance controlled 6-axis parallel manipulator, executing tasks that involve end-effector contact with uncertain environments of unknown stiffness, are presented.

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