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This article addresses the control problem of robots with unknown dynamics and manipulating flexible rubber objects of unknown elasticity. The manipulated rubber object is considered to be interacting with arbitrarily-switched constraints. Such a kind of robot system is shown to have switched impedance parameters during a task execution that results in an unknown hybrid nonlinear system with arbitrarily...
Robot interaction with the environment is normally described as a mass-spring-damping impedance model and the estimation of such interaction impedance parameters requires the computation of the joint (or task) space velocity and acceleration. In many cases, the velocity and acceleration are computed by numerically computing the first and second derivatives of the sensed position signal. The numerical...
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