Impedance control of the ROMERIN robot (torque-based control)

The control of multibody robotic systems can be controlled by two types of controllers. Those based on inverse kinematics (”inverse kinematics controllers”, IKC) and those based on inverse dynamics (”inverse dynamics controllers”, IDC). The first type generate velocity commands for the joints, while the second one produce torque commands. Although IKCs are still used in robotics, IDCs are more recommended for controlling robots with legs.

Here we find a couple of videos of the digital twin and the real robot doing a circular trajectory by using an impedance control under situations where the suction cups are not coupled to the horizontal plane.