Impedance matching control of a compliant mechanical one degree of freedom in a constrained environment task

摘要

An impedance model of a mechanical one degree of freedoom in dynamic interaction with the environment is proposed. This model is based on the scattering wave approach, in which the power is considered in terms of exchange between the robot and the environment. A matched impedance control approach is presented through power waves which are linear combination of force(torque) and motion generally choosen as independant variables. The power reflection coefficient explained in the frequency domain, and a matching condition for the controller is deduced, and implemented on a one DOF link mechanically in interaction with the environment. This simple control algorithm does not use a force sensor, and assuem the coupled link environment stability relatively to the incertaincy of the model parameters.