로봇의 교시를 위한 임피던스 제어

Abstract

초록 This paper presents an impedance control method for teaching trajectory of a robot. Various methods have been employed to teach trajectory. As one of the methods, impedance control has been exploited, so that human can intuitively teach trajectory. In this paper, an impedance control method is proposed with each joint torque data of the robot. The proposed method is verified through simulation.