Implementation of force and impedance control in robot manipulators

Abstract

A conceptual treatment is conceptual using linearized models to avoid complexity is presented. However, it is also shown that the approach is suitable when nonlinear models are used. A system configuration which implements both force and impedance control, using feedback and feedforward compensation, for both linear and nonlinear models is obtained. The scheme is currently being implemented in real-time control for testing.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>