This chapter addresses the classical impedance/admittance controllers in task space and joint space, and the accuracy/robustness dilemma of impedance control. The main goal of impedance control is to achieve a desired impedance between the position of the end‐effector and the contact force. The impedance control is a feedback linearization controller that assumes exact compensation of the robot dynamics. It realizes perfect tracking of the desired impedance model. The impedance control and the admittance controller use the joint space model in the feedback linearization control law. The impedance and admittance model are mapped to joint space through the inverse of the Jacobian matrix. The chapter utilizes the 4‐DOF exoskeleton robot to show the performance of the impedance control and admittance control schemes. The response of the robot‐environment interaction can be determined according to the environment and desired impedance parameters.
Model Based Human‐Robot Interaction Control
2021-10-05
12 pages
Article/Chapter (Book)
Electronic Resource
English
Model Free Human‐Robot Interaction Control
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