Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

This article presents passive impedance control of flexible joint robots (FJRs) via inner-loop torque elastic joints. However, according to our theoretical analysis, the methods series actuators (SEAs) are often limited by fact that acceleration signals amplified gains. Since affected differentiation noise, analysis may become invalid in practice. To alleviate this limitation, we propose use so-called viscoelastic actuator (SvEA), which significantly reduces amplification. Consequently, contrast SEA case, an SvEA-based FJR is valid real implementations. We would like highlight (more specifically, passivity analysis) performed for nonlinear robot dynamics without linearization. As a result, controller can be realized more robustly with enhanced control.