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On the formulation of parallel position/force control schemes for industrial manipulators
(Shaker Verlag, 2012)
In this paper, three commonly-used position/force control schemes namely Impedance, Admittance and Hybrid Position/Force control are investigated for use in industrial manipulators. In order to eliminate the instability ...
The effects of admittance term on back-drivability
In the design of kinesthetic haptic devices, there are mainly impedance type and admittance type device. In a customary scenario, the human operator back-drives the haptic device by holding and providing motion to the ...