Time-varying force tracking in impedance control a case study for automatic cell manipulation


Compared with the general compliance control problem where the manipulator-environment interaction force is often assumed to be a fixed value, a time-varying manipulation force of impedance control is studied upon a newly automatic cell injection system. The position-based impedance control method is deeply discussed, and two new controllers, a nonlinear… (More)
DOI: 10.1109/ICCA.2013.6564970


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