This paper presents impedance control through force estimation of a redundantly actuated Parallel Kinematic Manipulator. The impedance control is a model based control that sets a stiffness, damping and apparent inertia in the task space of the robot. The control is based on the feedback linearisation of the dynamics. The impedance control is achieved through an optimization promoting the even distribution of torques over actuators. Next, a force estimator is applied through an nonlinear disturbance observer. Finally, the estimated force is used in the impedance controller to set an apparent inertia of the moving platform of the robot. The approach shows a good response in low frequencies and good external force estimation required for impedance controlled tasks.
Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics : 14th International Conference, ICINCO 2017 Madrid, Spain, July 26-28, 2017 Revised Selected Papers
EditorsKurosh Madani, Oleg Gusikhin
Number of pages18
Publication date1 Jan 2020
ISBN (Print)978-3-030-11291-2
ISBN (Electronic)978-3-030-11292-9
Publication statusPublished - 1 Jan 2020
EventInternational Conference on Informatics in Control, Automation and Robotics - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017


ConferenceInternational Conference on Informatics in Control, Automation and Robotics
SeriesLecture Notes in Electrical Engineering


  • Redundantly actuated
  • Impedance control
  • Parallel kinematic manipulator
  • Nonlinear disturbance observer
  • Indirect force control

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