Theoretical Aspects of Impedance Controllers’ Modularization

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 4Sprache: EnglischTyp: PDF

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Fodor, F.; Brisan, C. (Department of Mechatronics and Machine Dynamics, Technical University of Cluj-Napoca, Cluj-Napoca, Romania)
Verl, A., (Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Stuttgart, Germany)

This research paper depicts a modularization concept using a generic and parametrized model with purpose of development of impedance controllers for haptic interfaces designed with different topologies. Therefore, parametrization and modularization of several components within control scheme were necessary. Unambiguously, these parametrized components and modules need to be only configured for the requirements of haptic interface. The paper verifies the presented approach of generic model by using its customization for 1 and 6 Degrees of Freedom.