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May 18, 2021IEEE/ASME Transactions on Mechatronics

Unified Motion/Force/Impedance Control for Manipulators in Unknown Contact Environments Based on Robust Model-Reaching Approach

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Authors

YLYinjie LinVision Technology (United States)ZCZheng ChenHebei Medical UniversityBYBin YaoPurdue University West Lafayette

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Lin et al. (2021) studied this question.

synapsesocial.com/papers/69ff7efc10d6befb25774a57https://doi.org/10.1109/tmech.2021.3081594
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  4. 4Impedance Control: An Approach to Manipulation: Part I—Theory1985 · 3,665 citations
  5. 5Decoupled Torque Control of Series Elastic Actuator With Adaptive Robust Compensation of Time-Varying Load-Side Dynamics2019 · 52 citations