Robust Impedance Control of Constrained Piezoelectric Actuator-Based End-Effector

Impedance control is one of the common force and position control methods. It regulates the relationship between motion and force which is able to deal with the tasks where the control subject has certain level of uncertainty

Tong Heng Lee; Wenyu Liang; Clarence W. de Silva; Kok Kiong Tan

2020

Scholarcy highlights

  • Impedance control is one of the common force and position control methods. It regulates the relationship between motion and force which is able to deal with the tasks where the control subject has certain level of uncertainty
  • It is often used in the applications of robot–environment interaction or human–robot interaction where the force–position relation is of concern
  • A robust impedance control is designed for a semi-automated surgical device based on the dynamic coordination of force and position control
  • Park, Reduced order type-k disturbance observer based on a generalized Q-filter design scheme, in 2014 14th IEEE International Conference on Control, Automation and Systems, pp

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