High-performance admittance control of an industrial robot via disturbance observer
Safe physical interaction using admittance control on an industrial robot with inner-loop
motion control remains challenging. This is partly due to the low intrinsic admittance and …
motion control remains challenging. This is partly due to the low intrinsic admittance and …
Outer-loop admittance and motion control dual improvement via a multi-function observer
Safe environment contact, and high-performance motion control are typically conflicting
design goals. Admittance control can improve safety and stability in contact with a stiff …
design goals. Admittance control can improve safety and stability in contact with a stiff …
Task space outer-loop integrated DOB-based admittance control of an industrial robot
Admittance control can improve robot performance and robustness in interactive tasks but is
still limited by stability when implemented on low-admittance hardware, such as position …
still limited by stability when implemented on low-admittance hardware, such as position …