The aim of this work is to investigate the performance of closed-loop impedance control in the case of a kinesthetic interface, more precisely to propose this control approach even for devices in which the natural dynamics of the system are relevant. This characteristic can be found in an industrial scenario where commercial components are generally used; hence the system can't be optimized as conversely occurs in a laboratory/ research environment where custom components are generally developed. It is shown that it is possible to guarantee a high dynamic accuracy using the closed-loop impedance control with force feedback and model feedforward. Therefore this approach is suggested as a valid alternative of the most diffused admittance control. The device implemented for the tests and the obtained results are described below.

(2015). Control system design of 1 DOF kinesthetic interface [conference presentation - intervento a convegno]. Retrieved from http://hdl.handle.net/10446/57808

Control system design of 1 DOF kinesthetic interface

RIGHETTINI, Paolo;GOTTI, Alessandro;ROSSETTI, Mattia;STRADA, Roberto
2015

Abstract

The aim of this work is to investigate the performance of closed-loop impedance control in the case of a kinesthetic interface, more precisely to propose this control approach even for devices in which the natural dynamics of the system are relevant. This characteristic can be found in an industrial scenario where commercial components are generally used; hence the system can't be optimized as conversely occurs in a laboratory/ research environment where custom components are generally developed. It is shown that it is possible to guarantee a high dynamic accuracy using the closed-loop impedance control with force feedback and model feedforward. Therefore this approach is suggested as a valid alternative of the most diffused admittance control. The device implemented for the tests and the obtained results are described below.
Righettini, Paolo; Gotti, Alessandro; Rossetti, Mattia; Strada, Roberto
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/57808
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