アドミッタンス・インピーダンス制御の機械特性変化に関する定性的解析

Translated title of the contribution: Qualitative Analysis Relevant to The Change in Mechanical Property for The Admittance-Impedance Control

藤木 拓人, 田原 健二

Research output: Contribution to journalArticle

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 contributionQualitative Analysis Relevant to The Change in Mechanical Property for The Admittance-Impedance Control
Original languageJapanese
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
Volume2020
Issue number0
DOIs
Publication statusPublished - 2020

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