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The paper describes an algorithm to compensate for the friction in the robot joints, while executing a target impedance controlled Cartesian task. The proposed method relies on the reinforcement learning procedure: given a target task in the Cartesian space and a joint space friction model, the algorithm is capable to adapt the friction model parameters based on a specified error function. The proposed...
The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the robot has to gently approach the target environment (whose position is usually not well-known), then execute...
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 with robot base dynamics compensation is presented in this paper. The method has been conceived to avoid force overshoots in applications where the coupled dynamics of the global system (compliant robot base - controlled robot - interacting compliant environment) affects the force tracking task. Force tracking performance are obtained tuning on-line both the position...
The paper presents a control law for interaction tasks with environments of unknown geometrical and mechanical properties by manipulators mounted on compliant bases. Based on force-tracking impedance controls, the control strategy allows the execution of such class of tasks using the estimation of base position as a feedback in the control loop, requiring at the same time the on-line estimation of...
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