Experiments of spatial impedance control

  • F. Caccavale
  • C. Natale
  • B. Siciliano
  • L. Villani
Chapter 2 Dynamics And Control
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 232)


The goal of this work is to present the results of an experimental study of impedance control schemes for a robot manipulator in contact with the environment. Six-degree-of-freedom interaction tasks are considered which require the implementation of a spatial impedance described in terms of both its translational and its rotational part. Two representations of end-effector orientation are adopted; namely, Euler angles or quaternions, and the implications on the choice of different orientation displacements are discussed. The controllers are tested on an industrial robot with open control architecture in a number of case studies.


Euler Angle Robot Manipulator Impedance Control Mechanical Impedance Rotational Part 
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Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • F. Caccavale
    • 1
  • C. Natale
    • 1
  • B. Siciliano
    • 1
  • L. Villani
    • 1
  1. 1.PRISMA Lab Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly

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