On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

@inproceedings{ChavezOlivares2016OnEF,
  title={On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators},
  author={C{\'e}sar Alejandro Chavez-Olivares and E. Gonzalez-Galvan},
  year={2016}
}
This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force sensor… CONTINUE READING