Impedanskontrollerte

Impedans­kontrollerte refers to a control strategy used in robotics and automation systems. It focuses on managing the dynamic behavior of a robot or a manipulated object by controlling its mechanical impedance. Impedance is a measure of how an object resists motion when subjected to a force. In simpler terms, it describes the relationship between force and velocity.

The goal of impedance control is to make a robot behave in a predictable and compliant manner when interacting with its environment. Instead of directly controlling the robot's position or force, impedance control aims to make the robot's end-effector behave like a virtual spring-damper-mass system. This allows the robot to absorb impacts, comply with unexpected disturbances, and apply forces in a controlled way without excessive oscillations or instability.

This approach is particularly useful in applications where robots need to interact physically with humans or their surroundings, such as in assembly tasks, surgery, or rehabilitation robotics. By tuning the impedance parameters, the robot's stiffness, damping, and inertia can be adjusted to achieve desired interaction dynamics. For instance, a highly compliant impedance might be used for delicate tasks, while a stiffer impedance could be suitable for tasks requiring precise positioning against external forces. Impedance control often relies on accurate models of the robot and its environment, as well as robust feedback mechanisms.