Reduction of Collision Force with Series Admittance Impedance Control

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  • 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

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<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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