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Adaptive variable impedance control for dynamic contact force tracking in uncertain environment

Source: sciencedirect.com The traditional constant impedance control is a simple but effective method widely used in many fields including contact force tracking. Using this method, the location of the environment relative to the robot and the stiffness of the environment must be known, and usually the desired force is constant. However, for applications in dynamic contact force tracking in uncertain environment, it is not an effective solution. In this paper, …Read More