Chapter 9 — Force Control

Experiments of spatial impedance control

The videod results of an experimental study of impedance control schemes for a robot manipulator in contact with the environment are presented. Six-DOF interaction tasks are considered that require the implementation of a spatial impedance described in terms of both its translational and its rotational parts. Two representations of end-effector orientation are adopted, namely, Euler angles and quaternions, and the implications for the choice of different orientation displacements are discussed. The controllers are tested on an industrial robot with open-control architecture in a number of case studies. This work was published in A. Casals, A.T. de Almeida (Eds.): Experimental Robotics V, Lect. Note. Control Inform. Sci. 232 (Springer, Berlin, Heidelberg 1998)
Fabrizio Caccavale, Ciro Natale, Bruno Siciliano, Luigi Villani
Video presented at Fifth International Symposium on Experimental Robotics, Barcelona, Spain, June 1997.