Abstract: Manipulation fundamentally requires the manipulator to be mechanically coupled to the object being manipulated; the manipulator may not be treated as an isolated system. This three-part paper ...

Abstract: This three-part paper presents a unified approach to the control of a manipulator applicable to free motions, kinematically constrained motions, and dynamic interaction between the manipulator and ...

Abstract: This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. ...