Admittance control of a 1-DoF robotic arm actuated by BLDC motor

The aim of this paper is to analyze the admittance control of a single-axis mechanism actuated by brushless DC (BLDC) motor. There is also presented an examination of applied control architecture. Experiments consisted of the study of high-speed contact of the manipulator with infinitely rigid environment, as well as slow increase in force, which affected the manipulator. There are presented simulation results, as well as the practical study. The impedance controller drives the torque-controlled manipulator system. Force between the arm and the environment was estimated based on motor current. The paper shows from practical point of view how to efficiently steer BLDC motors with admittance controllers.