Position-based impedance control using inner servo system and its application to a desktop NC machine tool

Fusaomi Nagata, Takanori Mizobuchi, Takashi Tanabe, Go Matsumura, Keigo Watanabe, Maki K. Habib, Tetsuo Hase, Zenku Haga

Research output: Contribution to journalArticle


A position-based impedance control using an inner servo system is introduced for industrial manipulators. Stiffness control, compliance control and impedance control can be easily realised. The impedance control does not have a force control mode but is the combination of position, velocity and force. The proposed impedance model force control is derived from the concept of the position-based impedance control. The force control method is applied to an NC machine tool to have a compliance. The machine tool consists of three single-axis robots with a high position resolution of 1 μm. The basic performance is demonstrated through a profiling control experiment.

Original languageEnglish
Pages (from-to)168-186
Number of pages19
JournalInternational Journal of Mechatronics and Manufacturing Systems
Issue number3-4
Publication statusPublished - May 2010



  • Critical damping condition
  • Desktop NC machine tool
  • Force control
  • Industrial robot
  • Position-based impedance control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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