Abstract
<p>Until now, we have proposed a combined control of admittance and impedance controls which can expand the stable region compared with the traditional admittance, or impedance control method. In this paper, the relationship between the change in each mechanical property, such as admittance and impedance, and the stability is analyzed using the frequency-domain analysis when the proposed controller is applied to a 1DOF linear mechanical system. The effectiveness of the proposed controller is demonstrated through the qualitative analysis of the vector locus of the transfer function of the system.</p>
| Translated title of the contribution | Qualitative Analysis Relevant to The Change in Mechanical Property for The Admittance-Impedance Control |
|---|---|
| Original language | Japanese |
| Pages (from-to) | 1P1-H10 |
| Journal | ロボティクス・メカトロニクス講演会講演概要集 |
| Volume | 2020 |
| Issue number | 0 |
| DOIs | |
| Publication status | Published - 2020 |