Impedance Control
This was first introduced to me by Cheng when working on robot arms. There are 2 main types of controls:
- Cartesian Impedance control
- Torque Impedance control
https://en.wikipedia.org/wiki/Impedance_control https://www.diag.uniroma1.it/~deluca/rob2_en/15_ImpedanceControl.pdf
What is Impedance again??
In the context of robotics, impedance refers to the dynamic relationship between the motion of the robot (position, velocity, and acceleration) and the forces applied by or to the robot.
Impedance control is an approach to dynamic control relating force and position. It is often used in applications where a manipulator interacts with its environment and the force position relation is of concern.