Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping
Kangwagye Samuel,Kevin Haninger,Sehoon Oh,Kangwagye Samuel,Kevin Haninger,Sehoon Oh
Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are meas...
