Model Predictive Impedance Control
Maciej Bednarczyk,Hassan Omran,Bernard Bayle,Maciej Bednarczyk,Hassan Omran,Bernard Bayle
Robots are more and more often designed in order to perform tasks in synergy with human operators. In this context, a current research focus for collaborative robotics lies in the design of high-performance control solutions, which ensure security in spite of unmodeled external forces. The present work provides a method based on Model Predictive Control (MPC) to allow compliant behavior when inter...
