Impedance control with virtual compliance

Abstract

In the paper a new concept of impedance control for a simple 1D dynamical system has been presented. The new approach lies in treating a task of reaching a contact plane and generating desired force on environment as one control problem that can be realized by one coherent control equation. In this approach switching between pure position and pure force control is not required like in classical hybrid law and at the movement stage the new approach gives better performance. Proposed algorithm makes up the generalization of a pure force control. Efficiency of introduced control law has been illustrated by simulation results. Some practical remarks concerning controller synthesis, utilizing the new algorithm and predictable future research have been included.