A compliance control strategy for robot manipulators using a self-controlled stiffness function

On Stiffness Regulators with Dissipative Injection for Robot Manipulators

“…Considering that M χ > 0 ⇒ ∃ M χ −1 > 0, and given condition (20), then by considering (18) and (19), we obtain…”

“…Among the most important direct interaction control approaches, we might consider explicit force control [5][6][7], hybrid force/ position control [8][9][10][11][12][13][14][15] and parallel force/motion control [16,17]. Meanwhile, among the most relevant indirect interaction control approaches, the stiffness control [18][19][20][21][22] and impedance control approaches [2, 4, 23 -29] might be considered.…”

“…The stiffness control has been implemented in different schemes. Among them, in [19] an approach based on variable stiffness - referred to as a ‘self-controlled stiffness function’ - which is used for unknown environments is presented; [20] presents an approach based on adaptive stiffness characteristics for interacting with unknown environments; in [22], new sufficient stability conditions for stiffness control based on a Lyapunov-Hamiltonian function are presented. In this case, the stiffness control is used for robot-aided rehabilitation.…”