Impedance Control with M0609 (Doosan)

Seunghwan Um, Tae Hyun Bae

Sungkyunkwan University

Code (TBD)

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Position Control is vulnerable to contact during teleoperation.

Impedance Control enables stable contact maintenance during tasks with continuous force or impact.

Position Control is vulnerable to robot motion in constrained environments such as pivoting.

Impedance Control enables performing challenging tasks even in the presence of external constraints.

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