Constant force tracking using online stiffness and reverse damping force of variable impedance controller for robotic polishing
Hosham Wahballa, Jinjun Duan, Zhendong Dai
Topics & Concepts
Control theory (sociology)Impedance controlController (irrigation)Contact forceStiffnessTracking errorTrajectoryEngineeringElectrical impedanceHaptic technologyTracking (education)Lyapunov functionRobot end effectorRobotComputer scienceSimulationArtificial intelligencePhysicsStructural engineeringControl (management)Nonlinear systemBiologyPedagogyElectrical engineeringPsychologyAgronomyAstronomyQuantum mechanicsSoft Robotics and ApplicationsRobot Manipulation and LearningTeleoperation and Haptic Systems