Juan Sebastián Sandoval Arévalo

Improved dynamic formulation for decoupled cartesian admittance control and RCM constraint

In this paper, we present a dynamically consistent control approach for manipulators with Cartesian Admittance Control (CAC) while guaranteeing a Remote Center of Motion (RCM) constraint. The dynamically consistent extended formulation was used in order to achieve a dynamically decoupled redundancy