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Implementation of A Robust Force Controller Using Stable NAC(Natural Admittance Control) Method  

Kim, Seung-Woo (Soonchunhyang University, Division of Information Technology Engineering)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.39, no.6, 2002 , pp. 9-19 More about this Journal
Abstract
An NAC(Natural Admittance Control) system design is presented for interaction controller that achieves high-performance and guarantees stability. The NAC can be classified as a particular flavor of impedance control similar to control schemes that have velocity compensator and force compensator. The NAC significantly improves the response characteristics when Coulomb friction is presented in One-link Robot System and guarantees stability when robot contacts with environment. Pragmatic rules for NAC synthesis are derived. It shows method to choose a target impedance for realizable force compensator. Important parameters are found experimentally. It is demonstrated, by the experimental result, that NAC algorithm is successful in rejecting Coulomb friction through velocity compensator and guarantees stability through force compensator. We implement an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the natural admittance controller to the One-link robot system, and show the good performance on desired force control in case of contacting with arbitrary environment.
Keywords
Natural Admittance Control; Stability; Coulomb Friction; One-link Robot System;
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