2026-01-27 中国科学院（CAS）
Framework of the proposed low-damping impedance control method for collaborative robots. (Image by NIMTE)
＜関連情報＞
- https://english.cas.cn/newsroom/research_news/infotech/202601/t20260127_1146582.shtml
- https://ieeexplore.ieee.org/document/11316830
バイアス滑り面におけるジャーク適応を備えた協働ロボットの低減衰インピーダンス制御 Low-Damping Impedance Control of Cobot With Jerk Adaptation on Biased Sliding Surface
Xiangjie Kong; Silu Chen; Hongyu Wan; Chi Zhang; Chin-Yin Chen; Guilin Yang;…
IEEE Transactions on Industrial Electronics Published:29 December 2025
DOI:https://doi.org/10.1109/TIE.2025.3634424
Abstract
The model uncertainty and disturbance lead to an offset between sensed force and desired force by impedance model, which challenges stability and accuracy during compliant control especially when the impedance model is with high stiffness but low damping. In this article, a sliding hypersurface is formed by two cascaded first-order filters biased by force impulse and mismatch between desired impedance and filters’ dynamics. In this way, the force offset can be well estimated even when the impedance model is under-damped. Thereafter, the open-loop dynamics about the force offset is derived, and an adaptive jerk control is formed to attenuate the force offset exponentially. Moreover, passivity analysis demonstrates that this controller permits a wider selection range of impedance parameters, thereby enhancing its practical applicability. Specially, its sliding gain is designed as a first-order forced response to the norm of the force offset, so that no positive feedback occurs when the force offset and the composite velocity error have opposite signs. Simulation and real-time experiments on a collaborative robot validate effectiveness of the proposed method.
