Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Until now, we have proposed a combined control of admittance and impedance controls which can expand the stable region compared with the traditional admittance, or impedance control method. In this paper, the relationship between the change in each mechanical property, such as admittance and impedance, and the stability is analyzed using the frequency-domain analysis when the proposed controller is applied to a 1DOF linear mechanical system. The effectiveness of the proposed controller is demonstrated through the qualitative analysis of the vector locus of the transfer function of the system.
