Controller Design for Mechanical Impedance Reduction
Mechatronic systems that physically interact with humans ought to guarantee safety, along with stability and management performance. Mechanical impedance is a good suggests that to judge the security of such systems. The mechanical impedance represents the magnitude of reaction forces by mechanical system when it's moved. Therefore, low mechanical impedance is one of the requirements of safe mechatronic systems. But, there exists a tradeoff between mechanical impedance, stability, and management performance. In this paper, a methodology to style control algorithms for reduction of the mechanical impedance with guaranteed stability is proposed. For the controller design, the mathematical definition of the mechanical impedance for open- and closed-loop systems is introduced in this paper. Varied analyses on the mechanical impedance from the viewpoint of control systems are given. Then, the controllers are designed for systems with/while not right-0.5 complex plane poles and zeros such that they effectively lower the magnitude of mechanical impedance with guaranteed stability. The proposed technique is verified through case studies as well as simulations and experiments.
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