Automatic Adjustment Function Of Force Control Parameter; Force Control - YASKAWA DX200 Instructions Manual

1.2

1.2.1 Force control

1 Outline of Function
1.2

Automatic Adjustment Function of Force Control Parameter

Automatic Adjustment Function of Force Control
Parameter
In the MotoFit function, the impedance control is used as a model of force
control. The impedance control parameter has M (Mass
parameter)[kg,kgm2], D (Damping parameter) [Ns/m,Nms] and K (Spring
parameter) [N/m,Nm] as shown in the following figure. The behavior of the
robot is different depending on these values. In the MotoFit function, the
damping parameter, D, is automatically adjusted. The values of M and K
are fixed as M = 1 [kg, kgm2] and K = 0 [N/m, Nm]. For the units described
in the parentheses, the former indicates the translational direction and the
latter indicates the rotational direction.
Fig. 1-3: Impedance Control Model
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