阻抗空间法：机器人柔顺控制的时无关参数椭圆

IF 1.3 4区工程技术 Q3 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Latin America Transactions Pub Date : 2025-10-07 DOI:10.1109/TLA.2025.11194775

Leonardo F. Dos Santos;Cícero Zanette;Elisa G. Vergamini;Lucca Maitan;Thiago Boaventura

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引用次数: 0

摘要

本文提出了一种新的阻抗控制的三维图形表示，称为阻抗空间，以促进机器人柔性控制器的动态行为分析。该方法通过结合质量、刚度和阻尼动力学，克服了现有二维图形方法的局限性，并将阻抗控制参数与线性变换相关联，绘制了正弦参考下质量-弹簧-阻尼器阻抗的参数化三维椭圆及其投影。实验验证了所提出的阻抗控制分析方法的有效性。该方法适用于各种兼容的控制拓扑，并可扩展到其他基于模型的控制方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control

This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches.

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来源期刊

IEEE Latin America Transactions COMPUTER SCIENCE, INFORMATION SYSTEMS-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

3.50

自引率

7.70%

发文量

192

审稿时长

3-8 weeks

期刊介绍： IEEE Latin America Transactions (IEEE LATAM) is an interdisciplinary journal focused on the dissemination of original and quality research papers / review articles in Spanish and Portuguese of emerging topics in three main areas: Computing, Electric Energy and Electronics. Some of the sub-areas of the journal are, but not limited to: Automatic control, communications, instrumentation, artificial intelligence, power and industrial electronics, fault diagnosis and detection, transportation electrification, internet of things, electrical machines, circuits and systems, biomedicine and biomedical / haptic applications, secure communications, robotics, sensors and actuators, computer networks, smart grids, among others.