Input-to-State Stability of Variable Impedance Control for Robotic Manipulator
Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks. In the paper, two sufficient conditions are p...
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| Format: | Article |
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MDPI AG
2020-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/4/1271 |
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| author | Junho Park Youngjin Choi |
| author_facet | Junho Park Youngjin Choi |
| author_sort | Junho Park |
| collection | DOAJ |
| description | Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks. In the paper, two sufficient conditions are proposed to ensure the input-to-state stability (ISS) irrespective of time-varying stiffness. Furthermore, the update rule of the stiffness is also suggested in such a way that the asymptotic stability is guaranteed under certain region conditions. Even when the update rule is not applied, the ISS is at least assured. In other words, the error is always bounded only if the external force/torque is bounded. In detail, two sufficient conditions offer the lower bound of stiffness and the upper bound of its time derivative. Simulation results show that the ISS of variable impedance control is achieved if the proposed sufficient conditions are satisfied. Also, we can confirm the asymptotic behavior in the simulation when the stiffness is updated according to the given rule. |
| first_indexed | 2024-12-20T01:41:23Z |
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| id | doaj.art-37fbb6ca51de481c9d309630a2f85282 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-20T01:41:23Z |
| publishDate | 2020-02-01 |
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| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-37fbb6ca51de481c9d309630a2f852822022-12-21T19:57:52ZengMDPI AGApplied Sciences2076-34172020-02-01104127110.3390/app10041271app10041271Input-to-State Stability of Variable Impedance Control for Robotic ManipulatorJunho Park0Youngjin Choi1Department of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, KoreaVariable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks. In the paper, two sufficient conditions are proposed to ensure the input-to-state stability (ISS) irrespective of time-varying stiffness. Furthermore, the update rule of the stiffness is also suggested in such a way that the asymptotic stability is guaranteed under certain region conditions. Even when the update rule is not applied, the ISS is at least assured. In other words, the error is always bounded only if the external force/torque is bounded. In detail, two sufficient conditions offer the lower bound of stiffness and the upper bound of its time derivative. Simulation results show that the ISS of variable impedance control is achieved if the proposed sufficient conditions are satisfied. Also, we can confirm the asymptotic behavior in the simulation when the stiffness is updated according to the given rule.https://www.mdpi.com/2076-3417/10/4/1271variable impedance controltime-varying stiffnessiss (input-to-state stability)update rule |
| spellingShingle | Junho Park Youngjin Choi Input-to-State Stability of Variable Impedance Control for Robotic Manipulator Applied Sciences variable impedance control time-varying stiffness iss (input-to-state stability) update rule |
| title | Input-to-State Stability of Variable Impedance Control for Robotic Manipulator |
| title_full | Input-to-State Stability of Variable Impedance Control for Robotic Manipulator |
| title_fullStr | Input-to-State Stability of Variable Impedance Control for Robotic Manipulator |
| title_full_unstemmed | Input-to-State Stability of Variable Impedance Control for Robotic Manipulator |
| title_short | Input-to-State Stability of Variable Impedance Control for Robotic Manipulator |
| title_sort | input to state stability of variable impedance control for robotic manipulator |
| topic | variable impedance control time-varying stiffness iss (input-to-state stability) update rule |
| url | https://www.mdpi.com/2076-3417/10/4/1271 |
| work_keys_str_mv | AT junhopark inputtostatestabilityofvariableimpedancecontrolforroboticmanipulator AT youngjinchoi inputtostatestabilityofvariableimpedancecontrolforroboticmanipulator |