Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866912634199080960 |
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| author | Santos, Leonardo F. Dos Zanette, Cícero Vergamini, Elisa G. Maitan, Lucca Boaventura, Thiago |
| author_facet | Santos, Leonardo F. Dos Zanette, Cícero Vergamini, Elisa G. Maitan, Lucca Boaventura, Thiago |
| contents | This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_17533 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control Santos, Leonardo F. Dos Zanette, Cícero Vergamini, Elisa G. Maitan, Lucca Boaventura, Thiago Systems and Control This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches. |
| title | Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.17533 |