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In this article, learning impedance control is proposed for physical robot–environment interaction. Learning mechanism is developed such that the knowledge of the robot structure is not required. With the developed method, the dynamics of the robot arm is governed to follow a target impedance model and the interaction control objective is achieved. The control performance is discussed through the rigorous analysis. The validity of the proposed method is verified by simulation studies.
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Li et al. (2011) studied this question.
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