A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation
Marco Minelli,Cristian Secchi,Marco Minelli,Cristian Secchi
In this paper, we propose a novel torque controller for the implementation virtual remote center of motion. The controller allows the system to implement the required behavior and guarantees the satisfaction of the remote center of motion constraint. Exploiting the Udwadia-Kalaba equation for constrained dynamic systems, the controller is synthesized considering the dynamic effect the constraint p...
