Abstract
In this paper, we develop a position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. A robust force control scheme based on the impedance approach is derived to follow a desired trajectory while regulating the force at the end effector. A uniform boundness result is obtained for the tracking error with only the measurement of the force at the end effector and of the joint velocity and position. This bound can be made arbitrarily small by adjusting the appropriate control parameters.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.