On the Pick-and-Place by Casimir Based Impedance Control for 1-DOF Hydraulic Arms

摘要

This paper discusses the effectiveness of the proposed impedance control for 1-DOF hydraulic robots numerically and experimentally. First, the new impedance control method for hydraulic robots is reviewed. Second, the validity of the proposed impedance control method is confirmed numerically. Finally, the proposed control is implemented on the pick-and-place robot and the validity is confirmed experimentally.