Impedance control without using velocity measurements

摘要

An impedance controller has been realized using: an end-effectornforce/torque sensor and joint displacement sensors only. Jointnvelocities are obtained with a reduced order nonlinear velocitynobserver. The system dynamics exhibit locally asymptotically stablenend-effector Cartesian position, velocity and force tracking. Thenobserver plus impedance controller has been simulated resulting innstrong correlation between theory and simulation