Force Control (part 2)

MIT 6.881: Robotic Manipulation

Fall 2020, Lecture 13

Follow live at https://slides.com/russtedrake/fall20-lec13/live

(or later at https://slides.com/russtedrake/fall20-lec13)

D. E. Whitney, “Historical Perspective and State of the Art in Robot Force Control,” The International Journal of Robotics Research, vol. 6, no. 1, pp. 3–14, Mar. 1987.

S. H. Drake, “Using compliance in lieu of sensory feedback for automatic assembly.,” Massachusetts Institute of Technology, 1978.

S. H. Drake, “Using compliance in lieu of sensory feedback for automatic assembly.,” Massachusetts Institute of Technology, 1978.

Image credit for Arne Nordmann, 2008

Note: A step command of magnitude 0.005 is sent at \(t = 9.005.\) \(q_{cmd}\) does not look like a step because of Iiwa's motion interpolator. (#11955)