Direct adaptive impedance control including transition phases

This paper presents a new direct adaptive impedance controller for force/position task that includes transition phases from free to constrained motions. This scheme ensures global asymptotic stability without the need for a priori knowledge of environment stiffness. One of the major consequence of this study is that a generalization of the time-varying impedance leads to integral force feedback. Experimental results on a two-degree-of-freedom planar manipulator are reported.

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