On Energy-based Robust Passive Impedance Control of a Robot Manipulator

Passivity is an important requirement for a robot to interact with human or other dynamic environments stably and safely as in robotic rehabilitations. Considering the time-varying objective impedance center, under the condition that the robot's dynamics is known, previous research has already proposed a passive impedance control approach which adjusts a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy so as to maintain the robot's passivity. In this research, we future take into account of the robot's dynamical model uncertainties and propose a robust passive impedance control. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our robust control approach.