There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

This paper reports on the existing robot force control algorithms and their composition based
on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition …

Real-time computing plays a crucial role in our society since an increasing number of
complex systems rely, in part or completely, on computer control. Examples of applications …

When a robot is operated remotely by use of a teleoperator, it is desirable to communicate
contact force information from the slave to the master, in order to kinesthetically couple the …

One of the fundamental requirements for the success of a robot task is the capability to
handle interaction between manipulator and environment. The quantity that describes the …

Introduction; Mathematical background; Dynamic modelling of robots; Structured network
modelling of robots; Adaptive neural network control of robots; Neural network model …

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 …

Impedance and Admittance Control are two distinct implementations of the same control
goal. It is well known that their stability and performance properties are complementary. In …

Robots are machines that have interested the general population throughout history. In
general, they are machines or devices that operate automatically or by remote control …

Force/position control strategies provide an effective framework to deal with tasks involving
interaction with the environment. In this paper the parallel approach to force/position control …