The design of a controller for a robotic manipulator is a crucial step in achieving system
robustness, accuracy, and stability. When the robot manipulator comes into contact with the …

In this paper, a new simple stable force tracking impedance control scheme that has the
capability to track a specified desired force and to compensate for uncertainties in …

In this paper, an observer-based impedance controller for robot manipulators during a
constrained motion is developed. The proposed controller requires the measurements of link …

A disturbance observer‐based hybrid sliding mode impedance control method is proposed
in this paper, which is able to achieve robot end constant contact force‐tracking control …

Manipulators usually need to contact with environment when executing polishing, grinding,
welding and other tasks. Maintaining the stable contact force is crucial to the successful …

In this paper, a novel force tracking impedance control strategy is presented in which target
stiffness is varied on-line to regulate the desired contact force without any knowledge of the …

The importance of robot contact operation control has been increasing recently due to a
need for robots to interact more with the outside world. However, traditional robot …

An impedance function is proposed to achieve accurate force tracking under the presence of
uncertainties in robot dynamics and environment models. The new impedance function is …

The original impedance control is a main force control scheme widely used in robotic force
tracking. However, it is difficult to achieve a good force tracking performance in uncertain …

This paper proposes an adaptive impedance control method for a robot's end-effector while
it slides steadily on an arbitrarily inclined panel; it concentrates on robot force position …