Null-Space Impedance Control For Physical Human-Robot Interaction

  • Luigi Villani
  • Hamid Sadeghian
  • Bruno Siciliano
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


In this paper two approaches for the correct task execution during null-space impedance control of a kinematically redundant robot are presented. The algorithms guarantee safe and dependable reaction of the robot during deliberate or accidental interaction with the environment, thanks to null-space impedance control. Moreover, the correct execution of the task assigned to the end-effector is ensured by control laws relying on two different observers. One is based on task space information and the other on the generalized momentum of the robot. The performance of the proposed control is verified through numerical simulations on 7R KUKA lightweight robot arm.


Task Space External Torque Torque Sensor Redundant Manipulator Correct Execution 
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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Luigi Villani
    • 1
  • Hamid Sadeghian
    • 2
  • Bruno Siciliano
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità di Napoli Federico IINapoliItaly
  2. 2.Mechanical Engineering DepartmentIsfahan University of TechnologyIsfahanIran, Islamic Republic of

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