Model Predictive Control with Virtual Delayed Resonator for Constant Force Interaction of Robotic Manipulator with Environmental Surface
Nanzhi Xie, Gang Wang, Qi Zhang, Chongji Lu et autres
Admittance control is considered an effective method for achieving constant force contact with a manipulator. However, the presence of unknown environmental stiffness and non-uniformity of the contact surface can adversely affect the manipulator's ability to maintain constant force contact, leading to jitter …
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