Positional Impedance Control
Impedance Control is quite popular and normal in 1960s. It is a well-known theory. When applying to robotics, the inverse dynamic problem would be involved, increased the computational load and the unmodeled dynamic could never be neligible. However, the positional control for a robotic arm is mature nowadays. Therefore, instead of solving the Inverse dynamic problem, I use the Second-order-system to analogy the MBK system. The effect is almost the same; however, the computational time largely decreased and we would not have to take the unmodeld dynamic into concern! The whole control process still stayed in positional and velocity control. |
ControlUsing Second-order control algorithms allows an inversion of a motion trajectory specified in terms of position, velocity and acceleration.
DesignUsing Second-order control algorithms allows an inversion of a motion trajectory specified in terms of position, velocity and acceleration. |
ImpedanceImpedance Control is useful in a great variety of applications. It provides obstacles avoidance, user-friendly interaction etc.
GUIUsing Second-order control algorithms allows an inversion of a motion trajectory specified in terms of position, velocity and acceleration. |
Prismatic ArmWhen changing the DH model and the Joint type. The robotic arm could be easily transformed into prismatic arm. The control algorithm is still the same.
IMU ControlUsing Second-order control algorithms allows an inversion of a motion trajectory specified in terms of position, velocity and acceleration. |