DIY robot arm with impedance control - LEVEL 2 ✅
This is the second step of the journey of enabling my robot to ”feel“ its environment and thus actively interact with it by developing and implementing an impedance controller.
The main part of impedance control is that the output torque of each joint is measured/estimated and controlled, other than controlling just velocity and position. This way the robot can be controlled to act like a spring damper system (you move the robot … it responses with a force … impedance) and react/interact to external forces/torques acting on the robot. This can enable robust safe interaction, compliant behavior as well as demanding/limiting interaction forces/torques.
The next level involves trajectory tracking, where the robot follows a defined trajectory in space as precise as possible while staying compliant. Stay tuned.. 🦾
In case of any questions, feel free!
