A Study of Force-Free Control Framework for Industrial Manipulator Tasks Based on High-Pass Filter
Guanwei He,Guodong Feng,Beichen Ding,Guanwei He,Guodong Feng,Beichen Ding
Force-free control (FFC) allows for flexible manipulator motion in response to external forces, making it a vital component of human-robot interaction (HRI). Manual intervention may cause uneven forces on the manipulator or frequencies close to the natural frequency, and mechanical resonance can occur due to the inertia of the manipulator and adjustable equivalent stiffness of the controller. This...
