A geometric, passivity-guaranteed force-impedance controller on SE(3), with a velocity-field update that resolves the non-causality of prior unified force-impedance control.
A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
abstract
In this paper, a comparison analysis between geometric impedance controls (GICs) derived from two different potential functions on SE(3) for robotic manipulators is presented. The first potential function is defined on the Lie group, utilizing the Frobenius norm of the configuration error matrix. The second potential function is defined utilizing the Lie algebra, i.e., log-map of the configuration error. Using a differential geometric approach, the detailed derivation of the distance metric and potential function on SE(3) is introduced. The GIC laws are respectively derived from the two potential functions, followed by extensive comparison analyses. In the qualitative analysis, the properties of the error function and control laws are analyzed, while the performances of the controllers are quantitatively compared using numerical simulation.
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
A geometric, passivity-guaranteed force-impedance controller on SE(3), with a velocity-field update that resolves the non-causality of prior unified force-impedance control.