Figure 3
The diagram outlines a control system for a robot, featuring key components and their interactions. The desired position, represented as \(x_d\), is input into a summation block. The output from this block, labeled as \(v_{xd}\), flows into a robot velocity control unit, depicted as \( \frac{1}{\tau_r s + 1} \). This unit then leads to the feedback variable \(x_r\) through an integrator block. A pressure cue \(v_{ar}\) also feeds into the admittance control block, modeled as \( \frac{s}{Ms^2 + Bs + K} \). The force output \(F\) affects a combined stiffness parameter \(K_e\), and a displacement \( \Delta x\) is noted, connecting to \(x_c\). The control structure employs visual cues like arrows indicating the direction of data flow and appropriately labeled elements to clarify the relationships among the various components.Block diagram of velocity-based admittance control