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Admittance parameters or Y-parameters (the elements of an admittance matrix or Y-matrix) are properties used in many areas of electrical engineering, such as power, electronics, and telecommunications. These parameters are used to describe the electrical behavior of linear electrical networks.
So impedance control is interaction control. [2] Note that mechanical systems are inherently multi-dimensional - a typical robot arm can place an object in three dimensions ((,,) coordinates) and in three orientations (e.g. roll, pitch, yaw). In theory, an impedance controller can cause the mechanism to exhibit a multi-dimensional mechanical ...
Admittance Y, measured in siemens, is defined as the inverse of impedance Z, measured in ohms: Y ≡ 1 Z {\displaystyle Y\equiv {\frac {1}{Z}}} Resistance is a measure of the opposition of a circuit to the flow of a steady current, while impedance takes into account not only the resistance but also dynamic effects (known as reactance ).
where Z is an N × N matrix the elements of which can be indexed using conventional matrix notation. In general the elements of the Z-parameter matrix are complex numbers and functions of frequency. For a one-port network, the Z-matrix reduces to a single element, being the ordinary impedance measured between the two terminals. The Z-parameters ...
In electrical engineering, susceptance (B) is the imaginary part of admittance (Y = G + jB), where the real part is conductance (G). The reciprocal of admittance is impedance (Z = R + jX), where the imaginary part is reactance (X) and the real part is resistance (R). In SI units, susceptance is measured in siemens (S).
If a new pair of impedance and admittance is added in front of the network, its input impedance remains unchanged since the network is infinite. Thus, it can be reduced to a finite network with one series impedance Z {\displaystyle \ Z\ } and two parallel impedances 1 / Y {\displaystyle \ 1/Y\ } and Z IT . {\displaystyle \ Z_{\text{IT}}~.}
In force control, a basic distinction can be made between applications with pronounced contact and applications with potential contact. [1] We speak of pronounced contact when the contact of the machine with the environment or the workpiece is a central component of the task and is explicitly controlled.
Equivalent circuit of a transmission line for the calculation of Z 0 from the primary line constants. The characteristic impedance of a transmission line, , is defined as the impedance looking into an infinitely long line. Such a line will never return a reflection since the incident wave will never reach the end to be reflected.
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