Lecture 13: Force Control (part 2)
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MIT 6.881: Robotic Manipulation
Fall 2020, Lecture 13
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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)
