Impedance Controllers for Electric-Driven Robots

摘要

This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance regulator in the sense of hardware and software layers. Because of TCP/IP architecture, the designed regulator can be easily adapted to different robot controllers. Experiments were conducted on a real 1-DOF manipulator driven by BLDC motor, as well as using simulation on a 2DOF planar robot.