Admittance control is an interaction-control strategy in which a robot measures contact forces and torques and converts them into corresponding desired motion (position or velocity) using a virtual mass-spring-damper model. It is the dual of impedance control: the robot senses force input and renders motion output, enabling compliant, safe physical human-robot interaction in collaborative tasks.
Semantic Classification
Content
Primary Definition
Admittance Control - Admittance Control in robotics systems