4 December, 2023
Reprint: Ideas and methods of force-position hybrid control of polishing robots
If we close the loop on position, we have no control over force. If we close the loop on the force, we have no control over the position. So, how to achieve simultaneous control of position and force? Just like our human hands. Therefore, the concept of impedance control is born, that is, we use a position closed loop to control the end of the robotic arm, but the end has a certain stiffness and will show force characteristics when in contact with the outside world.
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