3 accepted papers
Impedance control is a widely adopted approach that ensures the compliant behavior of robot manipulators as they interact with their environment according to specifically designed dynamics. For tasks involving six degrees of freedom (DoF), it is crucial to appropriately manage the position and orien…
In this study, a forward dynamics-based control (FDC) framework is proposed for task space control of a nonredundant robot manipulator. The FDC framework utilizes forward dynamic robot simulation and an impedance controller to solve the inverse kinematics problem. For the practical use of the propos
With increased human-robot interactions in industrial settings, a safe and reliable collision detection framework has become an indispensable element of collaborative robots. The conventional framework detects collisions by estimating collision monitoring signals with a particular type of observer,