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A spatial impedance controller is presented that simplifies impedance selection. Impedance is characterized using “spa- tially affine” families of ...
A spatial impedance controller is presented that simplifies impedance selection. Impedance is characterized using "spatially affine" families of compliance and ...
A spatial impedance controller is presented that simplifies impedance selection and emphasizes the underlying theory of compliance control, ...
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The adaptive controller globally achieves the impedance objective for the nonlinear dynamic model of rigid robot manipulators. Simulation results are presented ...
The goal of this work is to present the results of an experimental study of impedance control schemes for a robot manipulator in contact with the ...
Impedance control is a prominent method in robotic dynamics control relating to force. It is based on the motion dynamics in joint space and transfer the ...
The ability to autonomously tune impedance parameters of the robot interaction controller can help to address varying uncertainty levels of a manipulation task, ...
Abstract: This paper presents a generalized impedance technic applied to multirobot manipulation. The impedance control is defined over SE(3), ...
Duration: 45:34
Posted: Dec 16, 2021
Posted: Dec 16, 2021
The goal of the paper is the application of a geometrically consistent impedance concept to control interaction with the environment of a rigid object ...