A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

TLDR

Impedance control has attracted extensive research in robotic manipulation, aiming to achieve desired mechanical interactions between robots and their environments. The paper aims to provide a comprehensive tutorial and comparison of impedance control concepts, principles, implementation strategies, techniques, and applications, guiding readers—especially those outside the field—toward unified understanding and practical solutions. The authors review and compare basic concepts, principles, implementation strategies, techniques, and applications of impedance control in robotic manipulation. The tutorial promotes discussion toward a unified vision of impedance control in robotic manipulation.

Abstract

Summary There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.