Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks
In this article, two new compliant control architectures are introduced that utilize null space solutions to decouple force and position control. They are capable to interact with uncertain surfaces and environments with varying materials and require fewer parameters to be tuned than the common arch...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419885473 |