{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T22:03:28Z","timestamp":1768773808475,"version":"3.49.0"},"reference-count":25,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2011,7,26]],"date-time":"2011-07-26T00:00:00Z","timestamp":1311638400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. At first, a brief analysis of active impedance control is made, deducing the value of each parameter in order to achieve the three objectives. It is demonstrated that the system may be made overdamped with the adequate selection of the parameters if the characteristics of the environment are known, avoiding high overshoots of force during the impact. The second and most important contribution of this work is an additional measure for impact control in the case when the characteristics of the environment are unknown. It consists in switching among different values of the parameters of the impedance in order to dissipate faster the energy of the system, limiting the peaks of force and avoiding losses of contact. The optimal switching criteria are deduced for every parameter in order to dissipate the energy of the system as fast as possible. The results are verified in simulation.<\/jats:p>","DOI":"10.1017\/s0263574711000725","type":"journal-article","created":{"date-parts":[[2011,7,26]],"date-time":"2011-07-26T09:50:39Z","timestamp":1311673839000},"page":"583-597","source":"Crossref","is-referenced-by-count":32,"title":["Adjusting the parameters of the mechanical impedance for velocity, impact and force control"],"prefix":"10.1017","volume":"30","author":[{"given":"Ranko Zotovic","family":"Stanisic","sequence":"first","affiliation":[]},{"given":"\u00c1ngel Valera","family":"Fern\u00e1ndez","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,7,26]]},"reference":[{"key":"S0263574711000725_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-642-1"},{"key":"S0263574711000725_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005451"},{"key":"S0263574711000725_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600107"},{"key":"S0263574711000725_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"S0263574711000725_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/37.341859"},{"key":"S0263574711000725_ref15","volume-title":"Robot Modeling and Control","author":"Spong","year":"2006"},{"key":"S0263574711000725_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/9.554400"},{"key":"S0263574711000725_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.09.001"},{"key":"S0263574711000725_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/37.710879"},{"key":"S0263574711000725_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915438"},{"key":"S0263574711000725_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0557-2"},{"key":"S0263574711000725_ref21","doi-asserted-by":"crossref","first-page":"3097","DOI":"10.1109\/ROBOT.1995.525725","volume-title":"Proceedings of the IEEE International Conference of Robotics and Automation","author":"Ikeura","year":"1995"},{"key":"S0263574711000725_ref11","first-page":"1","volume-title":"Proceedings of the IEEE CSS\/RAS International Workshop on Control problems in Robotics and Automation: \u201cFuture Directions,\u201d","author":"De Schutter","year":"1997"},{"key":"S0263574711000725_ref25","doi-asserted-by":"crossref","DOI":"10.1201\/9781498701822","volume-title":"Sliding Mode Control: theory and Applications","author":"Edwards","year":"1998"},{"key":"S0263574711000725_ref24","first-page":"84","volume-title":"Proceedings of the IEEE\/ RSJ International Conference on Intelligent Robots and Systems","author":"Chang","year":"1995"},{"key":"S0263574711000725_ref14","volume-title":"Robot Manipulator Control: Theory and Practice","author":"Kewis","year":"2004"},{"key":"S0263574711000725_ref12","first-page":"169","volume-title":"Proceedings of the 16th IFAC World congress","author":"Zotovic","year":"2005"},{"key":"S0263574711000725_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906067543"},{"key":"S0263574711000725_ref23","volume-title":"Theory of Robot Control","author":"Canudas de Wit","year":"1997"},{"key":"S0263574711000725_ref2","volume-title":"Mechanical Impact Dynamics: Rigid Body Collisions","author":"Brach","year":"1991"},{"key":"S0263574711000725_ref20","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1177\/027836499501400303","article-title":"Robust impedance control and force regulation: Theory and experiments","volume":"14","author":"Lu","year":"1995","journal-title":"Int. J. Robot. Res."},{"key":"S0263574711000725_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/37.257891"},{"key":"S0263574711000725_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/87.911392"},{"key":"S0263574711000725_ref19","volume-title":"Cartesian Impedance Control of Redundant and Flexible Joint Robots","author":"Ott","year":"2008"},{"key":"S0263574711000725_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200403"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000725","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,8]],"date-time":"2023-06-08T09:54:07Z","timestamp":1686218047000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000725\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,7,26]]},"references-count":25,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2012,7]]}},"alternative-id":["S0263574711000725"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000725","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,7,26]]}}}