Evaluation of Position and Velocity Based Forward Dynamics Compliance Control (FDCC) for Robotic Interactions in Position Controlled Robots

Mohatashem Reyaz Makhdoomi, Vivek Muralidharan, Juan Sandoval +2

In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robo…