Force and position tracking: Parallel control with stiffness adaption - IEEE Control Systems Magazine

orce and position CO the interaction of a ro Among them, the parall fers good performance ir try of the contact surfac control scheme which ei tion along the unconstra tact force along the C I uncertainty on the conta of inverse dynamics typc ward action. Adaptatic known stiffness coeffic achieved by resorting tc suitable estimate upd; law driven by the force ror. Experimental result: an industrial robot v open control architecturc reported.