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2019•Unpublished venueRequires access

Event-based Hybrid Impedance and Admittance Control

Bo Yang, Di‐Hua Zhai, Weizhi Lyu, Yuanqing Xia

Open publisher page 5 citations

Abstract

This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

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What this paper is about

This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

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OpenAlex reports 5 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

Key concepts: Admittance, Electrical impedance, Impedance control, Robot, Control theory (sociology), Event (particle physics), Computer science, Control (management)

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