Joint-Based Robotic Impedance Control Transformations: An Experimental Study

Carlos Saldarriaga, José Patiño, Carlos Helguero, Imin Kao

2023

Abstract

We present an experimental study in this paper to illustrate the effect of the Cartesian damping matrix on modulating the dynamic response of a robotic manipulator in impedance control. We first derive the transformation of the matrices of impedance control between the Cartesian and joint spaces using differential mathematics. Through experiments conducted on a redundant Franka Panda robot, it is demonstrated that the coupling term between damping and stiffness in impedance control derived from theoretical analysis, when transforming between the Cartesian and joint spaces, is important in stabilizing the dynamic response of the joints. We apply a methodology to modulate the dynamic response of a robot performing impedance control that allows us to study and select diagonal and off-diagonal elements of the Cartesian damping matrix according to the damping ratios and natural frequencies of the system in the modal space. In addition, we explain and show that an arbitrary selection of damping is counter-productive for robots to perform tasks under impedance control, and may lead to instability and out-of-range torques at the joints of the robotic manipulator.

Paper Citation

in Harvard Style

Saldarriaga C., Patiño J., Helguero C. and Kao I. (2023). Joint-Based Robotic Impedance Control Transformations: An Experimental Study. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 158-165. DOI: 10.5220/0012190200003543

in Bibtex Style

@conference{icinco23,
author={Carlos Saldarriaga and José Patiño and Carlos Helguero and Imin Kao},
title={Joint-Based Robotic Impedance Control Transformations: An Experimental Study},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2023},
pages={158-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012190200003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Joint-Based Robotic Impedance Control Transformations: An Experimental Study
SN - 978-989-758-670-5
AU - Saldarriaga C.
AU - Patiño J.
AU - Helguero C.
AU - Kao I.
PY - 2023
SP - 158
EP - 165
DO - 10.5220/0012190200003543
PB - SciTePress