Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the presented paper an analytically force overshoots-free approach is described for the execution of robotics#R##N##R##N#interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment.#R##N##R##N#Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force#R##N##R##N#overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping#R##N##R##N#of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control#R##N##R##N#set-point. The force-tracking performance are obtained defining the control gains analytically based on the#R##N##R##N#estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method#R##N##R##N#has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic#R##N##R##N#performance.
['Loris Roveda', 'Federico Vicentini', 'Nicola Pedrocchi', 'Lorenzo Molinari Tosatti']
I am writing a research paper on a idea Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach
[{"from": "human", "value": "I am writing a research paper on a idea Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the presented paper an analytically force overshoots-free approach is described for the execution of robotics#R##N##R##N#interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment.#R##N##R##N#Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force#R##N##R##N#overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping#R##N##R##N#of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control#R##N##R##N#set-point. The force-tracking performance are obtained defining the control gains analytically based on the#R##N##R##N#estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method#R##N##R##N#has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic#R##N##R##N#performance."}]