Impedance control of a manipulator using torque-controlled lightweight actuators

Abstract

The performance of a new actuator for advanced robots is studied in terms of its compactness and force controllability. One-tenth lightweight electric actuators and one-twentieth-sized compact control drivers and their sophisticated force control performance in the execution of dextrous and compliant manipulation are reported. Static and dynamic force controllability of the proposed actuator is verified by impedance control experiments with a three-degree-of-freedom manipulator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>