Output control of actuator based on dynamic impedance matching

If the actuators can work stably and their output characteristics are robust with varying load at the certain range of frequency, one can make real general-purpose robots by installing this type of actuator to drive the joints of robot arms. In this paper, first the authors present their proposed robust control method based on dynamic impedance matching to make the actuator output not influenced by load variation or frequency. Also the stability of this control system is studied and evaluated by simulation