Zener model based impedance control for high-precision force tracking of robot-environment interaction

This paper proposes a new force tracking impedance control scheme based on Zener model for robot-environment interaction with high-precision force tracking, in which the proposed impedance model combines the conventional Voigt model and Maxwell model, and the model is capable of switching between Voigt model and Maxwell model with parameter changing for the requirement of specific application scenario. The proposed scheme can track the specified expected force and is less affected by the uncertainty of the robot dynamics and environmental force. The stability of the closed-loop system generated by the proposed impedance controller is analyzed, which proves that it is still stable even in the presence of uncertainties in the environment. Finally, simulations and experiments are carried out, and the experimental results verify the performance of the proposed scheme.