Low cost impedance controller for robotic gripper drive with DC motor

Abstract

The paper presents an idea of a method of changing the impedance of a DC drive, based on simultaneous estimation of velocity and torque of a motor using analogue technique with use of operational amplifiers. Introducing a changeable feedback allows to obtain a self-regulating impedance of the drive when kinematic chain of a manipulator is approaching to the object. The controller is very simple and low cost.