Circumventing Conceptual Flaws in Classical Interaction Control Strategies
Maxim Kristalny,Jang Ho Cho,Maxim Kristalny,Jang Ho Cho
This paper studies the problem of interaction control based on force and velocity measurements. Without restricting ourselves to fixed control structures such as admittance or impedance control, we consider the general topology of the problem. Adopting the idea of Youla-based 2DOF control, we reveal a generic control architecture that splits the problem into two independent parts: nominal admittan...
