Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
This paper discusses how to implement an impedance control system using the joint velocity servo driver of a PA10 manipulator. Specifically, this paper addresses technical difficulties in implementing the impedance control system. First, the impedance control system, which was designed previously, is briefly described. Then, how to overcome the technical difficulties is discussed to develop new practical methods that are necessary for realizing the impedance control system.
