A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidan...

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Veröffentlicht in:	arXiv.org 2022-12
Hauptverfasser:	Mayr, Matthias, Salt-Ducaju, Julian M
Format:	Artikel
Sprache:	eng
Schlagworte:	C++ (programming language) Cartesian coordinates Controllers End effectors Impedance Manipulators Motion control Robot arms Robot control Robot dynamics Robots Safety Torque Unknown environments
Online-Zugang:	Volltext
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