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This study delves into force feedback-based grasping techniques, utilizing impedance control methods to achieve precise control over both the end-effector pose and contact force of a robotic arm. A meticulous model of the AUBO i5 robotic arm is constructed in MATLAB/Simscape Multibody, and its performance is validated through simulation. Through the configuration of three distinct sets of impedance controller parameters, a thorough analysis is conducted to discern the impact of these parameters on the efficacy of the impedance controller, leading to the identification of the three primary parameters of the impedance controller. This research contributes to a more comprehensive understanding of the role of impedance control technology in grasping applications, offering valuable insights for the optimization of robotic arm systems.

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A Study of an Impedance-Controlled Force Feedback Grasping Technique

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年

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  • Xuesong Su,
  • Mei Wang,
  • Huifang Song,
  • Jia Liu,
  • Kaiyue Wang,
  • Hongyuan Guo

摘要

This study delves into force feedback-based grasping techniques, utilizing impedance control methods to achieve precise control over both the end-effector pose and contact force of a robotic arm. A meticulous model of the AUBO i5 robotic arm is constructed in MATLAB/Simscape Multibody, and its performance is validated through simulation. Through the configuration of three distinct sets of impedance controller parameters, a thorough analysis is conducted to discern the impact of these parameters on the efficacy of the impedance controller, leading to the identification of the three primary parameters of the impedance controller. This research contributes to a more comprehensive understanding of the role of impedance control technology in grasping applications, offering valuable insights for the optimization of robotic arm systems.