Contact force cancelation in robot impedance control by target impedance modification.

An-Chyau Huang Kun-Ju Lee Wei-Lin Du

Published in: Robotica (2023)

Keyphrases

force control
impedance control
position control
contact force
robot manipulators
control strategy
closed loop
master slave
real time
control law
control architecture
finite element analysis
force feedback
optimal control
inverse kinematics