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A recent development for programming industrial robotic manipulators is the interactive teaching of task motions where a human operator physically guides the end‐effector of a robot. Admittance control schemes are used to this end. Since the operator is in direct contact with the robot, it must be ensured that the velocities of the robot are within a safe range at any time. Thus, in order to guarantee...
Nowadays robotic manipulators are considered to perform a wide range of tasks. Since robotic systems consisting of multiple manipulators are capable of handling a variety of tasks that cannot be executed by single manipulators, cooperation of multiple manipulators is becoming increasingly interesting in particular for industrial applications. The interaction with other manipulators, respectively the...
Nowadays robotic manipulators are used as multi-purpose tools and must be able to complete various tasks. Pure position control schemes are often not sufficient to fulfill the requirements of these tasks. Interaction with the environment requires an extension of the conventional position control in order to achieve a desired compliance, and thus to limit the impact in order to avoid damaging of involved...
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