Impedance Control Design Based on Plastic Deformation for a Robotic Arm

In this study, the impedance control for smoothly receiving the impact of an incoming object is designed and realized. The control strategy is based on the idea that the back drive motion of an end effector attributable to the collision impact is regarded as plastic deformation of the robot. The impedance dynamics are constructed from the Maxwell model, which describes plastic deformation. Next, two types of control methods are proposed in terms of the connection configuration of the spring and damper. Physical simulations of the impact absorption with a robotic arm are executed to validate and analyze the proposed control laws.