On the Performance and Passivity of Admittance Control with Feed-Forward Input

This paper analyzes the effect of control parameters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and guidelines for each parameter were provided to enable the implementation of a wide range of desired admittance satisfying passivity. The proposed guidelines were verified through experiments.