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An impedance control scheme with lead-lag controller for flexible joint vibration suppression

The current flexible joint impedance control generally has a cascaded structure with both inner torque feedback and outer position feedback loops. The torque feedback loop is designed for the vibration suppression, theoretically, the stronger torque feedback the better vibration suppression performance. But in practical applications, the noise level of the torque sensor limits the vibration suppression performance, together with the system stability. The joint vibration and system stability around the resonant frequency are still critical problems that need to be considered in flexible joint impedance control. To address this problem, this paper proposes a novel impedance control scheme which introduces a lead-lag network in the inner torque feedback loop as a feed-forward controller. By proper torque feedback controller and lead-lag network design, the proposed control scheme can scale down the amplitude of closed-loop system response as well as improve the phase stabilization around the resonance frequency. Finally, simulation results for the frequency response and the effectiveness of the proposed controller is verified by simulation.