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In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. The developed algorithm shapes...
The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to track a force reference. Force tracking performance are obtained tuning on-line both the position set-point and the stiffness and damping parameters, based on the force error and on the...
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