MECHATRONIC SYSTEM CAPABLE OF ADJUSTING IMPEDANCE, AND CONTROLLING METHOD FOR ADJUSTING MECHANICAL IMPEDANCE OF MECHATRONIC SYSTEM

摘要

The present invention relates to a mechatronic system which can adjust mechanical impedance. A controlling method for adjusting the mechanical impedance of a system which is operated by mutual communication with people includes the steps of modeling the system; determining characteristics of the modeled system; stabilizing the system based on the determined characteristics and designing a controller to adjust the impedance of the system by using an impedance adjusting variable, which is a sole parameter; and adjusting the impedance of the system according to the designed controller.;COPYRIGHT KIPO 2015