PID Admittance Control in Task Space
Abstract
The joint angle control needs the references (trajectories) generated from the trajectory planning. Admittance control is the most used method for the trajectory generation, and it is in task-space. If we work in joint space, the inverse kinematics are needed [96]. It is difficult to solve the inverse kinematics problem because they provide an infinite number of joint motions for a certain end-effector position and orientation [133]. The admittance control has the form of PID. There are many PID controllers in the task-space [25]. In order to ensure asymptotic stability of the PID control, a popular method is to modify the linear PID into nonlinear one. Previous knowledge of part of ...
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