Force tracking impedance control of robot manipulators under unknown environment

@article{Jung2004ForceTI,
  title={Force tracking impedance control of robot manipulators under unknown environment},
  author={Seul Jung and Tien C. Hsia and Robert G. Bonitz},
  journal={IEEE Transactions on Control Systems Technology},
  year={2004},
  volume={12},
  pages={474-483}
}
In this paper, a new simple stable force tracking impedance control scheme that has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness as well as in robot dynamic model is proposed. The uncertainties in robot dynamics are compensated by the robust position control algorithm. After contact, in force controllable direction the new impedance function is realized based on a desired force, environment stiffness and a position… CONTINUE READING
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