Mobile Intelligent Autonomous Systems

21	Impedance-Controlled Mechatronic Systems for Autonomous Intelligent Devices Kostadin Kostadinov and Dimitar Chakarov

CONTENTS

21.1    Introduction

21.2    Mechanical Impedance Control by Redundancy Actuation

21.2.1    Method and Schemes for Motion Transition with Mechanical Impedance Control

21.2.2    Modelling of the Actuators with Drive Redundancy

21.2.2.1    Impedance-Controlled Mechatronic Actuators with Self-Stopping Gearing

21.2.2.2    Impedance-Controlled Mechatronic Actuators with Non- Self-Stopping Gearing

21.3    Control Strategy

21.4    Experimental Results and Discussion

21.5    Serial–Parallel Manipulators with Antagonistic Actuators

21.5.1    Kinematic Modelling of Serial-Parallel Manipulators with Actuation Redundancy ...