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Conference Papers Year : 2022

Control of a Robot Axis with Effort Feedback


This paper tackles the control design of a robot to handle said interaction. A new model is written of an EMPS Prototype to emulate a robot-environment scenario, including now two masses and with their interaction translated as a spring and damper system, followed by the implementation of a cascaded loop of force-velocity control of the robot axis. A new formulation of the force control is also designed and implemented considering the impedance control theory. Finally, this model and its cascaded loop control is validated against real values through the experiment proving its accuracy.
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hal-03718821 , version 1 (09-07-2022)


  • HAL Id : hal-03718821 , version 1


Sofia Torres, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Jorge Martins. Control of a Robot Axis with Effort Feedback. MIM2022, IFAC (Internationl federation of automatic control, Jun 2022, Nantes, France. ⟨hal-03718821⟩
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