Series admittance–impedance controller for more robust and stable extension of force control
Abstract To control a robot performing cooperative work between a human and robot, not only the position but also the force must be controlled from the viewpoint of human–robot contact. In addition, when a robot is used for fitting and handling, tasks that are conventionally performed by experienced...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2022-12-01
|
| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-022-00237-5 |