A basic study on admittance control using torsional torque control for a two-inertia system

Demand for cooperative robots is increasing. One of their control methods is admittance control. Not many studies worked on admittance control for a plant with resonance. We aimed at designing the control system so that the whole system does not vibrate at the anti-resonance frequency of the plant. The admittance control was attributed to the torsional torque control. The effectiveness of the proposed method in vibration due to a dynamics of a two-inertia system was validated in the simulations and experiments, especially by the result of time response that showed the reduction of the overshoot by more than 30%.