3 accepted papers
There is still a lack of null-space impedance control defined in Cartesian space that is suitable for multipoint contact and does not require knowledge of the force locations. To address this problem, this letter demonstrates a type of Cartesian null-space impedance control for the anthropomorphic m
Since the difference in angular velocity is used as the derivative of the orientation error in the classical impedance control, there is no longer a form of the second-order differential equation (SODE), and there is non-linearity in the classical impedance control, which limits applications. To add
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the articulated robot represented by composite signed distance fi