Theoretical Aspects of Impedance Controllers’ Modularization

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 4Language: englishTyp: PDF

Personal VDE Members are entitled to a 10% discount on this title

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.