<div class="csl-bib-body">
<div class="csl-entry">Thelenberg, N. M., & Ott, C. (2024). On Handling Variable Stiffness Parameters in Compliance Control via MPC. In <i>2024 European Control Conference (ECC)</i> (pp. 615–620). https://doi.org/10.23919/ECC64448.2024.10591005</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/208637
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dc.description.abstract
In variable impedance control the desired impedance parameters of a robot manipulator are adjusted in real-time. It has been observed that time varying impedance parameters can lead to a non-passive interaction and even destabilize the system. In this paper we consider a compliance controller, where the desired impedance is specified via a time-varying stiffness and damping. We propose to compute the controller gains from an additional online optimization instead of applying the desired time-varying stiffness and damping references directly. In this way the effect of the time-varying impedance parameters is evaluated over a finite time horizon. Together with a terminal constraint on the state this controller formulation aims to avoid a destabilization of the system due to the impedance variation. The proposed method is validated for free movement in two different simulations as well as for physical interaction on a Franka Research 3.
en
dc.language.iso
en
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dc.subject
Robot Control
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dc.subject
Impedance Control
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dc.subject
MPC
en
dc.title
On Handling Variable Stiffness Parameters in Compliance Control via MPC
