# A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators

arXiv: https://arxiv.org/abs/2212.11215 · HTML: https://mlsanity.com/paper/2212.11215/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Dec 2022.

## Built on by (most cited first, 2 of 2)

- [Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks](https://mlsanity.com/paper/2308.14206/) (2023)
- [Adaptable Recovery Behaviors in Robotics: A Behavior Trees and Motion Generators(BTMG) Approach for Failure Management](https://mlsanity.com/paper/2404.06129/) (2024)

## Abstract (arXiv)

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots.