Abstract
In the hybrid impedance control strategy, the task space is divided into position control subspace and force control subspace, and the constraint direction in the manipulator task space is controlled by torque-based impedance control, while the free movement direction is controlled by position-based impedance control. The hybrid impedance control has strong force tracking characteristics in the direction of force control and strong flexibility in the direction of position control. In this paper, we use the generalized momentum observer instead of the torque sensor to estimate the torque exerted by the external environment on the robot. Simulation results are shown for a three-link SCARA robot.
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