Zero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks: an Innovative Theory and Experimental Study
Carlos Saldarriaga Imin Kao Carlos Saldarriaga Imin Kao
This paper presents an analytical methodology and experimental study to identify quantitatively the zero-potential-energy (ZP) motion due to the stiffness matrices in Cartesian impedance control of redundant manipulators. This mode of motion, analogous to the rigid-body mode in classic mechanical systems, shows up as a result of the redundancy of the robot and creates a steady-state deviation from...