Home > Published Issues > 2020 > Volume 9, No. 6, June 2020 >

A New Impedance Control Method Using Backstepping Approach for Flexible Joint Robot Manipulators

Zhao-Hui Jiang1 and Tetsuya Irie 2
1. Hiroshima Institute of Technology, Hiroshima, Japan
2. THK Corporation, Tokyo, Japan

Abstract— In this paper, we propose a new impedance control method for flexible joint robot manipulators. An ideal nonlinear impedance dynamic model is formulated in the workspace. Three control strategies that meet the requirement of desired impedance dynamics and stability of the whole system are derived by using backstepping control approach. The control system has a cascade structure with the designed three control strategies serially connecting to each other. Stability of the closed-loop system is analyzed using Lyapunov stability theory. Impedance control experiments are carried out on a 2-link flexible joint robot manipulator with a force sensor equipped at the end-effector. The results demonstrate the effectiveness of the proposed impedance control method. 

Index Terms— impedance control, workspace, flexible joint robot, backstepping approach, stability analysis

Cite: Zhao-Hui Jiang and Tetsuya Irie, "A New Impedance Control Method Using Backstepping Approach for Flexible Joint Robot Manipulators," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 6, pp. 865-869, June 2020. DOI: 10.18178/ijmerr.9.6.865-869

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.