Constrained Variable Impedance Control using Quadratic Programming
Zhehao Jin,Dongdong Qin,Andong Liu,Wen-An Zhang,Li Yu,Zhehao Jin,Dongdong Qin,Andong Liu,Wen-An Zhang,Li Yu
This paper proposes a quadratic programming (QP)-based variable impedance control (VIC) algorithm to solve contact-rich trajectory tracking problems with impedance, position and velocity constraints. To the best of our knowledge, the impedance constraints which are significant to ensure the worst contact compliance have never been considered in other previous works. To handle the impedance constra...
