Consideration on Simple Imperdance Control System without Encorder and Torque Sensor.

Abstract

Recently, a flexible control is required to the control such as robots. In the impedance control proposed so far, the resolution encoder for position detection, the motor current sensor, and torque sensor for power detection to control a motor are required. Therefore the control system causes making to high price. Then, we proposed the simple impedance control system which does not use any expensive sensors of these, and showed the validity.