Chapter 9

PID Admittance Control in Joint Space


Normal impedance/admittance needs robot models. The model for the exoskeleton includes forward kinematic, inverse kinematic, and dynamic models. The kinematics are used to calculate the relation between the joint angles and the arm position, while the dynamic model is applied to design controllers. It is impossible to design a model-based impedance/admittance control when a complete dynamic model of the robot is unknown [154].

When the admittance control is in joint space, it requires inverse kinematics of the robot. In this chapter, the admittance control is modified to only use the orientations of the end-effector to generate the desired joint angles to avoid inverse kinematics. ...

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