This paper investigates a hybrid impedance control scheme that utilizes a desired force, rather than a desired position, as the commanded variable. This scheme is examined for a manipulator system in the presence of inherent hardware nonlinearities, and it demonstrates improved performance with respect to an explicit force control structure of a similar degree of robustness. Theoretical conclusions are supported experimentally on a customized Puma 560 Robotic Testbed facility, developed by the authors.
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González et al. (1995) studied this question.
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