Expansion of Stability Region by 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安定領域拡大

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<p>In order to achieve high positional accuracy with force control, To use admittance control is one of the possible candidates. However, there is a trade-off between positional accuracy and responsiveness and stability due to contact, and especially the viscosity of the virtual object contributes significantly to the stability. In this paper, we propose to expand the stability region of the above force control using series admittance impedance control through experiments.</p>

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