Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment
Wenyu Liang,Zhao Feng,Yan Wu,Junli Gao,Qinyuan Ren,Tong Heng Lee,Wenyu Liang,Zhao Feng,Yan Wu,Junli Gao,Qinyuan Ren,Tong Heng Lee
Robotic systems are increasingly required not only to generate precise motions to complete their tasks but also to handle the interactions with the environment or human. Significantly, soft interaction brings great challenges on the force control due to the nonlinear, viscoelastic and inhomogeneous properties of the soft environment. In this paper, a robust impedance control scheme utilizing integ...
