A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
Applications involving serial manipulators, in both co-manipulation with humans and
autonomous operation tasks, require the robot to render high admittance so as to minimize …
autonomous operation tasks, require the robot to render high admittance so as to minimize …
Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation
Industrial robots have increased payload, repeatability, and reach compared to collaborative
robots, however, they have a fixed position controller and low intrinsic admittance. This …
robots, however, they have a fixed position controller and low intrinsic admittance. This …