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<p>Manipulation tasks in variable stiffness environments are becoming increasingly prevalent, yet the existing impedance force control methods via ideal reference trajectory adjustment may fail to achieve accurate force tracking in such scenarios. To address this, the interaction model between the robot and the environment is first established within the existing control framework. Then, based on the common Lyapunov function method and the indefinite Lyapunov function method for non-autonomous systems, several relaxed stability constraints ensuring the uniform exponential convergence of force tracking errors are derived in this paper. These constraints depend only on impedance parameters and environmental stiffness, so that they can be satisfied through either off-line impedance parameter configuration prior to the task or real-time adjustment of the robot end-effector’s velocity in the vertical force control direction. Finally, simulations and experiments validate the feasibility of the proposed impedance force control method.</p>

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Impedance force control with uniform exponential stability for variable stiffness environments

  • 期刊论文

  • 发表日期：

    2025年6月16日

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  • Zhaobao Yu,
  • Xianjie Zheng,
  • Liaoxue Liu,
  • Yu Guo

摘要

Manipulation tasks in variable stiffness environments are becoming increasingly prevalent, yet the existing impedance force control methods via ideal reference trajectory adjustment may fail to achieve accurate force tracking in such scenarios. To address this, the interaction model between the robot and the environment is first established within the existing control framework. Then, based on the common Lyapunov function method and the indefinite Lyapunov function method for non-autonomous systems, several relaxed stability constraints ensuring the uniform exponential convergence of force tracking errors are derived in this paper. These constraints depend only on impedance parameters and environmental stiffness, so that they can be satisfied through either off-line impedance parameter configuration prior to the task or real-time adjustment of the robot end-effector’s velocity in the vertical force control direction. Finally, simulations and experiments validate the feasibility of the proposed impedance force control method.