Definition
Control algorithm for a robot manipulator, even if not limited to manipulators, aimed at ensuring a programmable dynamic behavior of the machine in reaction to externally applied forces, resorting to an inner motion control loop.
Overview
Admittance control, similarly to impedance control, aims at imposing a desired dynamic behavior to the robot subject to external contact forces, in terms of programmable admittance parameters, i.e., inertia, stiffness, and damping.
As shown in the general scheme of Fig. 1, differently from the impedance control law which computes reference joint torques, the output of the admittance controller is a reference motion for an inner motion control loop based on the measured (or estimated) contact force and, if available, a given desired nominal motion.
General admittance control scheme
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References
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Natale, C. (2020). Admittance Control. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_89-1
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DOI: https://doi.org/10.1007/978-3-642-41610-1_89-1
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