ABSTRACT

This chapter considers impedance-controlled mechatronic systems based on the redundancy of actuators. Development of mechanical impedance-controlled mechatronic systems by actuation redundancy implements the approach for mechanical impedance control. Based on this approach, intelligent autonomous mechatronic systems with such actuators can accomplish very fine motion, regardless of their dynamic interaction with remaining technological equipment or environment. The actuators with drive redundancy are a simplified model of the antagonistic drive in the nature. The stiffness control realization for control of manipulators with actuation redundancy is linked with specification of a suitable end-effecter stiffness or compliance. This stiffness is a reason for generation of restoring forces, as an expected response to the external excitation due to a contact. Manipulation against kinematic constraints will be considerably simplified if it is possible to specify the motion of the end-effecter in response to arbitrary disturbance forces.