On the Performance and Passivity of Admittance Control with Feed-Forward Input

This paper analyzes the effect of control param-eters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and gui...

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Bibliographic Details
Published in2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 11209 - 11215
Main Authors Ko, Dongwoo, Lee, Donghyeon, Chung, Wan Kyun, Kim, Keehoon
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.10.2022
Subjects
Admittance control
Damping
Force
Guidelines
Intelligent robots
Sufficient conditions
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Summary:This paper analyzes the effect of control param-eters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and guidelines for each parameter were provided to enable the implementation of a wide range of desired admittance satis-fying passivity. The proposed guidelines were verified through experiments.
ISSN:2153-0866
DOI:10.1109/IROS47612.2022.9981227