A displacement-feedback motion controller can be reshaped on contact, via loop shaping of the disturbance sensitivity function, to switch to a compliant mode without measuring contact force.
Hybrid impedance control of ro botic manipulators,
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Loop Shaping of Hybrid Motion Control with Contact Transition
A displacement-feedback motion controller can be reshaped on contact, via loop shaping of the disturbance sensitivity function, to switch to a compliant mode without measuring contact force.