Evaluation of Position and Velocity Based Forward Dynamics Compliance Control (FDCC) for Robotic Interactions in Position Controlled Robots

In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robotic arms are position-controlled stiff systems at a hardware level. Thus, adding compliance becomes essential. Complianc...

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Hauptverfasser:	Makhdoomi, Mohatashem Reyaz, Muralidharan, Vivek, Sandoval, Juan, Olivares-Mendez, Miguel, Martinez, Carol
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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