A position-based impedance control for industrial robots with open architecture controller

This paper presents a new position-based impedance control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to industrial robots with open architecture controller, or to implement it in computer simulations. Next, to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using informations on inertia and Jacobian matrices. Simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning.