A Force Control Method of Medical Robot Based on Impedance Control

Zhihang Yuan,Linshuai Zhang,Tao Jiang,Shuoxin Gu,Lin Xu, Yujie Zhang, Peng Zeng,Marcin Grzegorzek

2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)（2024）

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关键词

Control Method,Force Control,Impedance Control,Medical Robots,Rapid Development Of Technology,Robotic Arm,Dynamic Contact,Compliance Control,Control System,External Environment,Transfer Function,Step Change,Reaction Force,Motor System,Moment Of Inertia,Force Values,Direction Of Force,Laplace Transform,Balance Equation,Kinds Of Models,Impedance Model,Stepper Motor,Steady-state Error,Contact Model,Mechanical Impedance,System Modulation,Contact Force,Force Feedback,Steady-state Time,Kinematic

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