A new position based force/impedance control for industrial robots

@inproceedings{Surdilovic1996ANP,
  title={A new position based force/impedance control for industrial robots},
  author={Dragoljub Surdilovic and J. Kirchhof},
  booktitle={ICRA},
  year={1996}
}
This paper presents a new position-based force / impedance control scheme which provides a feasible and reliable solution for performing contact tasks in industrial robotic systems. The control scheme consists of a n outer implicit force control loop closed around a n internal position-based impedance control loop. The enclosed experiment demonstrates the performance of the proposed compliant control concepts i n performing a relatively simple contact task with a conventional industrial robot. 

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