Hybrid impedance and admittance control of robot manipulator with unknown environment

This paper presents a novel impedance control strategy to improve the performance of a robot manipulator. Impedance control and admittance control have complementary effects on the stability and performance of a control system. Impedance control works well in stiff environments, whereas admittance c...

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Veröffentlicht in:	Intelligent service robotics 2023-03, Vol.16 (1), p.49-60
Hauptverfasser:	Rhee, Issac, Kang, Gitae, Moon, Seung Jae, Choi, Yun Seok, Choi, Hyouk Ryeol
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Artificial Intelligence Control Controllers Dynamical Systems Electrical impedance Engineering Friction Kinematics Manipulators Mechatronics Original Research Paper Performance enhancement Robot arms Robot control Robotics Robotics and Automation Robots Sensors Switching Unknown environments User Interfaces and Human Computer Interaction Vibration
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