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This work presents a hybrid control system that consists of Impedance and Admittance Control systems. This control system is developed to help in kinesthetic learning for the robot’s control. The control system was simulated and tested, to ensure its credibility. A proof of concept of four degrees of freedom robotic arm was developed, to test the proposed control system and its functionality. By experimenting with the system and the robot; and analysing the resulting values. It was possible to conclude that the system is successful, as it remained within an acceptable error range. This was calculated while teaching the trajectory and while repeating it. The average error is less than 6% in the manipulation mood and less than 8.6% in the execution. The robot was easily manipulated, trained, and repeated the movement with high accuracy.

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Control of Collaborative Robot Using a Hybrid Impedance and Admittance Control to Build Kinesthetic Learning Industrial Robot

  • 章节

  • 发表日期：

    2025年

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  • Mostafa Gamal,
  • Mohammed Aad Khudhair,
  • Hothefa Shaker Jassim,
  • Husam A. Neamah

摘要

This work presents a hybrid control system that consists of Impedance and Admittance Control systems. This control system is developed to help in kinesthetic learning for the robot’s control. The control system was simulated and tested, to ensure its credibility. A proof of concept of four degrees of freedom robotic arm was developed, to test the proposed control system and its functionality. By experimenting with the system and the robot; and analysing the resulting values. It was possible to conclude that the system is successful, as it remained within an acceptable error range. This was calculated while teaching the trajectory and while repeating it. The average error is less than 6% in the manipulation mood and less than 8.6% in the execution. The robot was easily manipulated, trained, and repeated the movement with high accuracy.