This paper proposes a new admittance realization control system based on feedforward compensation for high-stiffness environments. In conventional admittance realization control systems, the poles of the control system can be designed using any design method. However, zeros are placed on the right side of the dominant pole in the pole placement diagram when the environmental stiffness and viscosity values are large. These zeros placed on the right side of the dominant pole deteriorate the frequency response.
In contrast, the proposed admittance realization control system is used to design zeros at the desired frequency. Because the zeros are placed on the left side of the dominant pole, the frequency response of the high-frequency domain is improved. The validity of the proposed method is confirmed by analysis and experiments.
2017 The Institute of Electrical Engineers of Japan