Model Predictive Position and Force Trajectory Tracking Control for Robot-Environment Interaction
Tobias Gold,Andreas Völz,Knut Graichen,Tobias Gold,Andreas Völz,Knut Graichen
The development of modern sensitive lightweight robots allows the use of robot arms in numerous new scenarios. Especially in applications where interaction between the robot and an object is desired, e.g. in assembly, conventional purely position-controlled robots fail. Former research has focused, among others, on control methods that center on robot-environment interaction. However, these method...
