Model reference impedance control of robotic manipulators

A model reference impedance controller which requires neither a dynamic model of the robot nor torque controlled actuators has been implemented on an industrial manipulator. The controller has been implemented on a six-degree-of-freedom industrial arm. No model of the manipulator dynamics was required, just an underlying controller capable of tracking a specified path in joint space. The bandwidth of the impedance control will be limited by the bandwidth of the manipulator and its underlying position controller.<
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