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Force-Impedance Control for Robots by cmkorpela is a document available to read on EtoBox.

What is Force-Impedance Control for Robots about?

This document presents a new control strategy called force-impedance control for robotic manipulators. Force-impedance control enables two behaviors: force limited impedance control and position limited force control. It combines the robustness of impedance control with the ability to track position and force references like hybrid control. The controller architecture uses an impedance controller as the inner loop and an integral force controller as the outer loop to modify the position reference in order t

Author

cmkorpela

Language

EN