Synonyms
Definition
Control algorithm for a robot manipulator, even if not limited to manipulators, aimed at ensuring a behavior of the machine compliant to externally applied forces.
Overview
Stiffness control belongs to the so-called indirect force control strategies that aim at keeping limited the contact forces during the execution of tasks that involve physical contact of the robot end effector with the external environment, such as assembly tasks.
For a more detailed discussion on the control concept, please see “Compliance Control.”
Key Research Findings
With respect to the control algorithms described in the “Compliance Control” chapter, the term stiffness control was used by Salisbury (1980), who proposed the first stiffness control algorithm that, in principle, can work without any force feedback. The original control law, not making use of any force feedback, to compute the control torque τis very simple, and, under the assumption of a constant desired...
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References
Bruni F, Caccavale F, Natale C, Villani L (1996) Experiments of impedance control on an industrial robot manipulator with joint friction. In: EEE international conference on control applications, Dearborn, Sept 15–18, pp 205–210
Calanca A, Muradore R, Fiorini P (2016) A review of algorithms for compliant control of stiff and fixed-compliance robots. IEEE/ASME Trans. Mechatron 21(2):613–624
Chiaverini S, Siciliano B, Villani L (1999) A survey of robot interaction control schemes with experimental comparison. IEEE/ASME Trans Mechatron 4(3):273–285
Dietrich A, Wimböck T, Albu-Schäffer A, Hirzinger G (2012) Reactive whole-body control: dynamic mobile manipulation using a large number of actuated degrees of freedom. IEEE Robot Autom Mag 19(2):20–33
Hogan N (1984) Impedance control of industrial robots. Robot Comput Integr Manuf 1(1):97–113
Salisbury JK (1980) Active stiffness control of a manipulator in Cartesian coordinates. In: 19th IEEE conference decision and control, Albuquerque, 10–12 Dec 1980, pp 95–100
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Natale, C. (2020). Stiffness Control. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_112-1
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DOI: https://doi.org/10.1007/978-3-642-41610-1_112-1
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