Development of User-friendly Tuning for Impedance Control Parameters
Year: 2001
Type: article
Abstract: Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.
Authors: Junji shimamura, Masaki Arao
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W2579288646