Passive spring-damper compliance at the end-effector with hybrid control reduces force and velocity error variances by 25-41% in 2-DOF manipulator simulations under fixed and varying contacts.
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Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization
Passive spring-damper compliance at the end-effector with hybrid control reduces force and velocity error variances by 25-41% in 2-DOF manipulator simulations under fixed and varying contacts.