An Introduction to Impedance Control of Constrained Robotic Mechanisms

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Scientific Study from the year 2020 in the subject Engineering - Robotics, University of Baghdad (University of Baghdad, Department of Aeronautical Engineering, Baghdad, Iraq), language: English, abstract: This paper is concerned with summarizing the categories of impedance control showing the feature and the limitations of each category. Much attention is paid to variable impedance control considering the possible control schemes, performance, the stability, the integration of constant/variable compliant elements with the host robots, etc. For a long time, the robotics community concentrated ...