Experimental evaluation of hybrid impedance controllers

• Ano de defesa: 2024
• Autor(a) principal: Zanette, Cícero Luiz Alves
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Biblioteca Digitais de Teses e Dissertações da USP
• Palavras-chave em Português: admittance control; controle de admitância; controle de impedância; controle de interação; controle híbrido; hybrid control; impedance control; interaction control; Robótica; robotics
• Link de acesso: https://www.teses.usp.br/teses/disponiveis/18/18162/tde-22012025-162356/

Interaction control has gained importance with the increasing prevalence of robots interacting with humans. Among the available options, impedance and admittance control systems are particularly notable. These approaches differ from traditional methods by focusing on the relationship between velocity and force rather than specific system states. Impedance control is effective in stable interactions with stiff environments, but may lack precision in free space. Conversely, admittance control excels in non-contact scenarios but can be unstable with stiff environments. Since stiff environments can be considered as having high admittance, impedance control is generally preferred in such cases, and vice versa. To address these challenges, researchers have sought to integrate the advantages of both approaches through hybrid systems. These hybrids are primarily categorized into switch-based and non-switch-based types, each with distinct benefits and drawbacks. This study aims to develop a comparative strategy for these hybrid systems by introducing a novel visualization method called \"impedance space\" and standardizing the control frameworks for clarity. New metrics were designed to evaluate how well these systems achieve the desired impedance rather than merely following force or position trajectories. The proposed framework was validated through experiments, assessing the performance of different systems across various environments.