Position-based impedance control using inner servo system and its application to a desktop NC machine tool
by Fusaomi Nagata, Takanori Mizobuchi, Takashi Tanabe, Go Matsumura, Keigo Watanabe, Maki K. Habib, Tetsuo Hase, Zenku Haga
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 3, No. 3/4, 2010

Abstract: A position-based impedance control using an inner servo system is introduced for industrial manipulators. Stiffness control, compliance control and impedance control can be easily realised. The impedance control does not have a force control mode but is the combination of position, velocity and force. The proposed impedance model force control is derived from the concept of the position-based impedance control. The force control method is applied to an NC machine tool to have a compliance. The machine tool consists of three single-axis robots with a high position resolution of 1 µm. The basic performance is demonstrated through a profiling control experiment.

Online publication date: Mon, 10-May-2010

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