Position and mechanical impedance control method of robot actuators based on the acceleration control

A novel hybrid control method for the position and mechanical impedance of robot actuators is proposed and is based on the acceleration control previously presented by the author (1988). Because the acceleration controller suppresses the disturbance forces effectively and makes each joint fully independent of the others, simple decentralized controllers can be designed based only on the angle command for each joint. The author shows the superiority of the proposed system by comparing it with the resolved-acceleration control method