Impedance Control for Robots with Mixed Rigid-Elastic Joints Using Sliding Mode Control^*

In this work, a two-loop impedance control using the sliding mode control technique is presented. In the outer loop, a sliding mode control algorithm is proposed to impose the desired interaction behaviour on the system. Then, in the inner loop, another sliding mode control is proposed to control the motors of the elastic joints. Then, the presented sliding mode impedance controller is simulated to verify its performance.