IROS 2022poster7 citations
On the Performance and Passivity of Admittance Control with Feed-Forward Input
Dongwoo Ko, Donghyeon Lee, Wan Kyun Chung, Keehoon Kim
Abstract
This paper analyzes the effect of control param-eters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and guidelines for each parameter were provided to enable the implementation of a wide range of desired admittance satis-fying passivity. The proposed guidelines were verified through experiments.
BibTeX
@inproceedings{iros2022_ontheperformance,
title = {On the Performance and Passivity of Admittance Control with Feed-Forward Input},
author = {Dongwoo Ko and Donghyeon Lee and Wan Kyun Chung and Keehoon Kim},
booktitle = {IROS 2022},
year = {2022}
}