TY - GEN
T1 - Numerical Simulations of a Novel Force Controller Serially Combining the Admittance and Impedance Controllers
AU - Fujiki, Takuto
AU - Tahara, Kenji
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by YASKAWA Electric Corporation, Japan.
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper proposes a novel force controller that serially combines admittance and impedance controllers. The proposed controller is adaptable to an unknown changeable environment in terms of stiffness, and it is able to achieve high control accuracy and stable operation. First, conventional admittance and impedance controllers are recalled, and based on them, a new force controller is designed. Next, the proposed controller is applied to a one DoF system in contact with an external environment in the case where the contact stiffness is changeable, and compare the behavior of the proposed controller with that of the conventional simple admittance and impedance controllers through numerical simulations. Additionally, the proposed controller is applied to a two DoFs system including some nonlinearities, and proposes a design of the desired anisotropic admittance and impedance parameters to the proposed controller. This effectiveness is also demonstrated through numerical simulation results.
AB - This paper proposes a novel force controller that serially combines admittance and impedance controllers. The proposed controller is adaptable to an unknown changeable environment in terms of stiffness, and it is able to achieve high control accuracy and stable operation. First, conventional admittance and impedance controllers are recalled, and based on them, a new force controller is designed. Next, the proposed controller is applied to a one DoF system in contact with an external environment in the case where the contact stiffness is changeable, and compare the behavior of the proposed controller with that of the conventional simple admittance and impedance controllers through numerical simulations. Additionally, the proposed controller is applied to a two DoFs system including some nonlinearities, and proposes a design of the desired anisotropic admittance and impedance parameters to the proposed controller. This effectiveness is also demonstrated through numerical simulation results.
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U2 - 10.1109/ICRA48506.2021.9562064
DO - 10.1109/ICRA48506.2021.9562064
M3 - Conference contribution
AN - SCOPUS:85125504521
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6955
EP - 6962
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -