This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled r...

This paper examines human impedance perception ability during manipulation of an impedance-controlled robot, especially as regards perception accuracy and differential limen. In the experiments, a subject is instructed to move the handle of an impedance-controlled robot and to perceive the presented value of the robot impedance. Experimental results show that both motor control ability and soma...

Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force regarded as a linear viscoelastic model, which limits description of dynamic model system to certain extent. For robot manipulator, optimal parameters controller are key improve performance. this paper, described more accurately by fractional calculus than and fractiona...