Robust Admittance Control of Optimized Robot-Environment Interaction Using Reference Adaptation.
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DOI: 10.1109/tnnls.2021.3131261
Abstract: In this article, a robust control scheme is proposed for robots to achieve an optimal performance in the process of interacting with external forces from environments. The environmental dynamics are defined as a linear model,… read more here.
Keywords: interaction; control; reference adaptation; admittance control ... See more keywords