Robust Impedance Control and Force Regulation: Theory and Experiments

gies : pure force control and impedance control. In pure force control, the contact force is directly controlled to track the desired force as closely as possible. Pure force control can be applied only when the manipulator is in contact with the environment. By contrast, in impedance control, the force is regulated by controlling the position and its relationship (impedance) with the force. A seminal work on impedance control was published by Hogan (1985). In this work, the complete knowledge of the dynamic model of the robot is needed to implement, via computed torque technique, the desired impedance. Kazerooni et al. (1986) proposed a robust

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