2 papers
cs.RO2026
A Unified Control Architecture for Macro-Micro Manipulation using a Active Remote Center of Compliance for Manufacturing Applications
Patrick Frank, Christian Friedrich
Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly…
cs.RO2025
Highly dynamic physical interaction for robotics: design and control of an active remote center of compliance
Christian Friedrich, Patrick Frank, Marco Santin +1
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid con…