Input-to-State Stability of Variable Impedance Control for Robotic Manipulator
Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks. In the paper, two sufficient conditions are p...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/4/1271 |