2011 IEEE International Conference on Robotics and Automation 2011
DOI: 10.1109/icra.2011.5980256
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Analytic proportional-derivative control for precise and compliant motion

Abstract: Abstract-Precise control with proportional-derivative (PD) control generally requires stiffness. The proposed method determines critically damped PD control trajectories that precisely obtain target position and velocity constraints for arbitrary initial conditions. An analytic solution provides the PD control parameters, thereby determining the required impedance. The resulting controller precisely interpolates the target state by solving the full boundary-value problem. Control parameters are time-invariant,… Show more

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