IMPACT AND FORCE CONTROL WITH SWITCHING BETWEEN MECHANICAL IMPEDANCE PARAMETERS

Abstract This work consists of two parts. First, a brief analysis active impedance control is made, deducing the value of each parameter in order to achieve good performance in free motion, impact and force control. Second, a new methodology of impact control is proposed. It consists in switching among different impedances, imposing for example a low mass while penetrating in the environment and a high mass while rebounding. The former dumps the impact limiting the peak of force while the latter avoids losses of contact. A similar consideration may be made for the stiffness. The dissipativity of the system is demonstrated.