Zusammenfassung
Bei der gleichzeitigen Regelung von Kräften und Nachgiebigkeiten besteht für die serielle Anordnung von Kraft- und Nachgiebigkeitsregler der Impedanzregelung (IC) das Problem der gegenseitigen Beeinflussung der Regelkreise. Mit der im Folgenden im Vergleich gegenüber der IC präsentierten neuen parallelen Impedanzregelung (PIC) wird durch eine parallele Regleranordnung die gegenseitige Beeinflussung der Regler vermieden. Übersteigen die einwirkenden Störkräfte die auszuübenden Sollkräfte, kann durch die PIC ein nachgiebiges Verhalten bei wesentlich verringerter Antriebsleistung erreicht werden.
Abstract
By the concurrent control of forces and compliances with the impedance control (IC), characterized by a serial arrangement of force and impedance controller, the problem of a mutual influencing of the control circuits exists. With the parallel impedance control (PIC), presented in comparison to the IC below, the mutual influencing of the controllers is avoided by a parallel controller arrangement. If the acting disturbing forces exceed the desired forces, the PIC can achieve a compliant behavior with considerably reduced drive power.
About the author
Michael Mack ist wissenschaftlicher Mitarbeiter am OUZ der medizinischen Fakultät Mannheim der Universität Heidelberg. Hauptarbeitsgebiete: Entwicklung stationärer und handgehaltener Assistenzsysteme und Operationsroboter
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