Latest / Deep End Era. Engineering with Sankalp
Contact-Rich Manipulation, Impedance Control, and Whole-Body Dynamics: Featherstone's Articulated-Body Algorithm, Operational Space Control, Force/Torque Sensing, and Dexterous Grasping
A seven-degree-of-freedom robot arm is trying to slide a hardened steel sun gear into a planetary carrier with twelve micrometres of radial clearance. Under high-gain position control, a tenth-of-a-millimetre fixture offset generates four hundred newtons of lateral wedging force in three milliseconds. Under naive force feedback, the wrist chatters like a jackhammer against the steel chamfer. To fix it, we build the complete theory of contact-rich manipulation from first principles: Hogan's impedance control, Featherstone's spatial dynamics, Khatib's operational space control, force sensing…
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