Hybrid impedance control for free and contact motion

  • Oh, Yonghwan (School of Mech. Eng., Pohang University of Science and Technology (POSTECH)) ;
  • Chung, W. K. (School of Mech. Eng., Pohang University of Science and Technology (POSTECH)) ;
  • Youm, Y. (School of Mech. Eng., Pohang University of Science and Technology (POSTECH))
  • Published : 1995.10.01

Abstract

A general task execution with hybrid impedance control method is addressed. The target impedance is expressed in the constraint frame. For the computational simplicity and the robustness improvement, disturbance observer scheme is used. To make stable contact with the environment, the large value of desired inertia gain for the force-controlled subspace is suggested. Numerical examples are given to show the performance of the proposed controller.