Reduction of Collision Force with Series Admittance Impedance Control

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Other Title
  • 直列アドミッタンス・インピーダンス制御による衝突力軽減
Published
2023
DOI
  • 10.1299/jsmermd.2023.2a2-e02
Publisher
The Japan Society of Mechanical Engineers

Description

<p>Until now, we have proposed a new force controller that connects admittance and impedance controller in series. In this paper, we experimentally verify the collision force reduction effect of the series admittance impedance control. By experiment with the proposed controller or conventional impedance control and a 1DOF linear mechanical system, it was found that the proposed method can reduce the collision force while keeping the same trajectory tracking performance as the conventional impedance control.</p>

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