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This paper presents an experimental evaluation of the performance of a nonlinear robot control algorithm on a contact task involving free motion, constrained motion and transitions between the two. The algorithm is an implementation of impedance control which uses end-point force feedback. Stable control of the force exerted on a rigid surface is achieved without recourse to a soft sensor. Motion control is achieved without inverse kinematic computations. It is unnecessary to switch between different modes of control at the moment of contact as the impedance controller is competent in all phases of the task.
Neville Hogan (Wed,) studied this question.