A Design and Implementation of Position Based Impedance Controller with Self-Adjusted Impedance Parameters

임피던스 파라미터의 자기 조절 기능을 갖는 위치 기반 임피던스 제어기의 설계 및 적용

  • 황인호 (서울산업대학교 제어계측공학과 대학원) ;
  • 박영칠 (서울산업대학교 제어계측공학과)
  • Published : 2000.10.01

Abstract

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

Keywords