2016
Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks
Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti
RA-L 2016
The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the ro