Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers
Takuto Fujiki Kenji Tahara Takuto Fujiki Kenji Tahara
This paper proposes a novel force controller that serially combines admittance and impedance controllers. The proposed controller is adaptable to an unknown changeable environment in terms of stiffness, and it is able to achieve high control accuracy and stable operation. First, conventional admittance and impedance controllers are recalled, and based on them, a new force controller is designed. N...