Abstract
The conventional impedance control is based on Lagrangian systems with effort inputs and thus can not discuss any driving dynamics in electrical and/or hydraulic actuators. The proposed method is based on port-Hamilton systems with Casimir functions and gives a new impedance control without any canceling computations. It is proved that not only stability but also the closed-loop mechanical structure are robust in the presence of purturbations. The robustness is demonstrated by numerical simulations.
