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9 lines
411 B
Markdown
9 lines
411 B
Markdown
### Force and Impedance control
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In a nutshell, you have different control modes:
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* position control: specify the desired task (or joint) positions
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* velocity control: specify the desired task (or joint) velocities
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* force control: specify the desired task (or joint) forces
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* impedance control: specify the task (or joint) forces based on the desired task (or joint) positions, velocities, and accelerations.
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