7.4 Direct Force Control
Stiffness control scheme developed in Section 7.3 is more favorable than pure motion control schemes in cases where the robot is in contact with a stiff environment. In this control scheme, the force–motion relation is well tuned to track a desired stiffness requirement at steady state, without the need of any force measurement. However, stiffness control suffers from a number of drawbacks, which limits its widespread use in applications in which the robot accurately controls the contacts force during its course of motion. Since there is no force measurement incorporated in this control scheme, accurate information on ...
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