Embedded impedance- & admittance control

The impedance- & admittance control is a common technique in robotics and other applications. The force or momentum should be handled in a more sensitive way to fulfill several demands. Human machine interfaces (HMI) or safely acting robots in human environments are only a few examples. We now have implemented these technologies in an embedded system where no host systems like PLCs or personal computers were used. The level of integration might be raised. The way of implementation is shown beside two application examples.