JRM Vol.36 No.2 pp. 483-493
doi: 10.20965/jrm.2024.p0483


An Admittance Controller with a Jerk Limiter for Position-Controlled Robots

Ryusei Mae ORCID Icon and Ryo Kikuuwe ORCID Icon

Machinery Dynamics Laboratory, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan

July 3, 2023
January 31, 2024
April 20, 2024
admittance control, jerk limiter, vibration suppression, normal cone, differential inclusion

This paper proposes an admittance control scheme for robots equipped with joint-level position controllers involving deadtime. Its main feature is an elaborate discrete-time jerk limiter, which limits the third derivative of the position command sent to the controller. The jerk limiter is designed to suppress undesirable oscillation especially when the robot is in contact with a stiff environment. The controller is designed as a differential inclusion involving normal cones in the continuous-time domain, and its discrete-time algorithm is derived by the implicit Euler discretization. The presented controller was validated with experiments using a collaborative robot UR3e of Universal Robots, which has a deadtime of 6 ms in the velocity-command mode.

A robot controlled with the proposed admittance controller

A robot controlled with the proposed admittance controller

Cite this article as:
R. Mae and R. Kikuuwe, “An Admittance Controller with a Jerk Limiter for Position-Controlled Robots,” J. Robot. Mechatron., Vol.36 No.2, pp. 483-493, 2024.
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Last updated on May. 19, 2024