During many robot tasks a relatively permanent contact of the robot with the environment is needed. To be obale to cope with these tasks a robot must be equipped with a position/force or an impedance ...controller. Therefore, control algorithms with position tracking performance and force control ability are required. Our algorithm was tested on a simple 1 DOF mechanism and the results of force regulation show a good force tracking performance. In future, implementation on the laboratory 3 DOF DD robot will take place.
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