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Adaptive admittance control: an approach to explicit force control in compliant motion

San Diego, CA, pp.2705-2712vol.4, (1994)

Cited by: 63|Views10
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Abstract

J'his paper addresses the problem of controlling a ma- ni)mlator in compliant motion while in contact with an environment having an unknown stiffness. Admittance control is used as an czplzczt force control sc})eme in which a force setpoint is specified and is tracked by the force compensator. Two adaptive PID and 1>1 force colnpcnsators ...More

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