Experimental Verification of Series Admittance Impedance Control

Abstract

In this paper, a new force controller that connects admittance and impedance controllers in series is verified experimentally. Until now, the serially combined admittance impedance controller has been proposed and its effectiveness has been demonstrated through only numerical simulations, whereas its practical use has not yet been shown. First, the control law of the proposed force controller is shown compared with the conventional force controllers. Next, to experiment with the proposed method in the simplest case, the 1DoF experimental setup is introduced, and conduct experiments to compare with the performance of the proposed method and present methods under several situations. Finally, Its practical usefulness is demonstrated through these experimental results.