Title :
Low cost impedance controller for robotic gripper drive with DC motor
Author :
Edward Jezierski
Author_Institution :
Institute of Automatic Control, Lodz University of Technology, Lodz, Poland
Abstract :
The paper presents an idea of a method of changing the impedance of a DC drive, based on simultaneous estimation of velocity and torque of a motor using analogue technique with use of operational amplifiers. Introducing a changeable feedback allows to obtain a self-regulating impedance of the drive when kinematic chain of a manipulator is approaching to the object. The controller is very simple and low cost.
Keywords :
"Impedance","DC motors","Gold","Voltage control","Robots","Control systems","Admittance"
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
DOI :
10.1109/MMAR.2015.7283979
