Impedanz- und Admittanzregelung

[Salzlon]

Hallo zusammen,

kann mir jemand den Unterschied von Impedanz- zur Admittanzregelung erklären und ggf. Literatur empfehlen?

Ich glaube, dass die Admittanz die Kraft als Eingang nutzt und so die Roboterposition regelt. Bei der Impedanz ist es anders herum.

Danke im Voraus.

[Manf]

Hier ist schon einmal eine grundlegende Definition der Kraftregelungen.
https://de.wikipedia.org/wiki/Kraftregelung

Besser hier:
https://en.wikipedia.org/wiki/Impedance_control
(https://en.wikipedia.org/wiki/Impedance_control)
Impedance control is an approach to the control of dynamic interaction between a manipulator (https://en.wikipedia.org/wiki/Manipulator_%28device%29) and its environment. This type of control is suitable for environment interaction and object manipulation.


We are interested in controlling the mechanical impedance of a mechanism. Using the analogy to electrical impedance where impedance is the ratio of voltage output to current input (e.g. resistance is voltage divided by current), mechanical impedance is the ratio of force output to motion input. A "spring constant" defines the force output for a tension or compression of the spring. A "damping constant" defines the force output for a velocity input. If we control the impedance of a mechanism, we are controlling the force of resistance to external motions that are imposed by the environment.


Mechanical admittance is the inverse of impedance - it defines the motions that result from a force input. If a mechanism applies a force to the environment, the environment will move, or not move, depending on its properties and the force applied. For example, a marble sitting on a table will react much differently to a given force than will a log floating in a lake.

[Salzlon]

Hier ist schon einmal eine grundlegende Definition der Kraftregelungen.
https://de.wikipedia.org/wiki/Kraftregelung

Besser hier:
https://en.wikipedia.org/wiki/Impedance_control
(https://en.wikipedia.org/wiki/Impedance_control)
Impedance control is an approach to the control of dynamic interaction between a manipulator (https://en.wikipedia.org/wiki/Manipulator_%28device%29) and its environment. This type of control is suitable for environment interaction and object manipulation.


We are interested in controlling the mechanical impedance of a mechanism. Using the analogy to electrical impedance where impedance is the ratio of voltage output to current input (e.g. resistance is voltage divided by current), mechanical impedance is the ratio of force output to motion input. A "spring constant" defines the force output for a tension or compression of the spring. A "damping constant" defines the force output for a velocity input. If we control the impedance of a mechanism, we are controlling the force of resistance to external motions that are imposed by the environment.


Mechanical admittance is the inverse of impedance - it defines the motions that result from a force input. If a mechanism applies a force to the environment, the environment will move, or not move, depending on its properties and the force applied. For example, a marble sitting on a table will react much differently to a given force than will a log floating in a lake.

Hey Manf,

danke für die Links, kann es mir jetzt besser vorstellen. :)