5 CONCLUSIONS
In this paper the impedance shaping control strategy
has been described and tested in a full rigid body as-
sembly real task with compliant support. The method
is capable to avoid force overshoots while allowing
to track a force reference using an estimate of the
environment dynamic parameters. The paper shows
the capability of the deﬁned control strategy to satisfy
the desired requirements and compares the obtained
results to constant impedance controllers, that show
force overshoots and unstable behaviours.
Future work will extend the strategy to the rota-
tional DoFs and will investigate the optimal deﬁni-
tion of the on-line tuning functions of the stiffness and
damping parameters and set-point gains. Moreover,
more challenging tasks will be considered (machin-
ing and surgical tasks).
ACKNOWLEDGEMENTS
This work has been partially supported by EC FP7
ACTIVE project (FP7-ICT-2009-6-270460). Opin-
ions or results expressed in this work are solely those
of the authors and do not necessarily represent those
of EC. The authors’d like to thank T. Dinon (CNR-
ITIA) for expertise, setup and experimental support.
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