Selective Compliance Control

This lecture covers the concepts of force control, position control, and hybrid position and force control in robotic manipulators. It explains the implementation of selective compliance in robots, focusing on the SCARA robot. The lecture also delves into haptic control, virtual environments, mechanical impedance, and impedance control. It discusses the Z-Width, electrical impedance analogy, and the importance of achieving a broad Z-Width for haptic devices. Additionally, it explores the effects of feedback delay, open-loop impedance control, and impedance control with model compensation. The lecture concludes with insights on achieving good performance in haptic devices and factors affecting the Z-Width of a haptic display.