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Impedance control is an approach to the control of dynamic interaction between a manipulator and its environment. This type of control is suitable for environment interaction and object manipulation. The key theory behind the method is to treat the environment as an admittance and the manipulator as an impedance. It assumes the postulate that "no controller can make the manipulator appear to the environment as anything other than a physical system." Hogan's rule can also be stated as: "in the most common case in which the environment is an admittance(e.g. a mass, possibly kinematically constrained) that relation should be an impedance, a function, possibly nonlinear, dynamic, or even discontinuous, specifying the force produced in response to a motion imposed by the environment." 〔Hogan, N., Impedance Control: An Approach to Manipulation, American Control Conference, 1984 , vol., no., pp.304,313, 6–8 June 1984, http://summerschool.stiff-project.org/fileadmin/pdf/Hog1985.pdf〕 ==Principle== Impedance control doesn't regulate force or position. Instead a regulation of the relationship between force on the one hand and position, velocity and acceleration on the other hand is performed. This relation is called an impedance. It requires a position (velocity or acceleration) as input and has a resulting force as output. The inverse of impedance is admittance. It imposes position. So actually a spring-mass-damper system is being modelled by maintaining a dynamic relationship between force and position, velocity and acceleration: F = Ma + Cv + Kx + friction. Mass and spring (stiffness) are energy storing elements, while a damper is an energy dissipating element. So if we can control impedance, we are able to control energy exchange during interaction, i.e. the work being done. So impedance control is interaction control.〔Buchli, J., Force, compliance, impedance and interaction control, Summer school dynamic walking and running with robots, july 12 2011, p.212-243, http://leggedrobotics.ethz.ch/lib/exe/fetch.php?media=education:summerschool:forcecontrol11.pdf〕 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Impedance control」の詳細全文を読む スポンサード リンク
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