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The new force tracking impedance control scheme does not require estimating environment stiffness or locations since the controller is adapted only based on the previous force tracking error between the desired and real contact force. Stability of the proposed scheme is discussed with a quadratic Lyapunov function.
Two simple and computationally efficient schemes for force tracking using impedance control are presented. The schemes generate the reference position ...
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This article presents two simple on-line schemes for force tracking within the impedance-control framework. The force- tracking capability of impedance ...
position/force control. The objective of this article is to combine the advan- tages of hybrid position/force control and impedance.
In impedance force tracking, the location of the environment relative to the robot and the stiffness of the environment should be known. The proposed method ...
Sep 13, 2023 · This paper proposes a fractional-order PID adaptive impedance control strategy to enhance the stability and force tracking performance of robot– ...
In this paper, a new adaptive variable impedance control is proposed for force tracking which has the capability to track the dynamic desired force and ...
Sep 29, 2024 · This article presents an extended Cartesian space robot control framework that features a virtual force tracking impedance control to enhance the end-effector ...
Aug 4, 2022 · This paper introduces a modification of the impedance control scheme which has the adaptability to track the desired force in uncertain environment.
This article presents two simple on-line schemes for force tracking within the impedance-control framework. The force- tracking capability of impedance ...