The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control.

Richard Volpe Pradeep K. Khosla

Published in: Int. J. Robotics Res. (1995)

Keyphrases

force control
impedance control
robot manipulators
closed loop
control strategy
position control
optimal control
control law
model free
mathematical model
control scheme
manipulation tasks