An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

<div>Grasping forces <svg height="11.7391pt" id="M254" style="vertical-align:-3.05101pt" version="1.1" viewbox="-0.0498162 -8.68809 16.5015 11.7391" width="16.5015pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M534 495C529 556 524 633 523 650H42V608C116 601 125 594 125 508V144C125 55 116 49 42 42V0H359V42C270 49 262 55 262 144V296H341C431 296 440 289 450 220H493V424H450C439 360 431 352 341 352H262V565C262 599 265 600 301 600H352C406 600 433 594 452 573C469 555 481 526 492 488L534 495Z" id="g22-68"></path><glyph.data ascent="1041" descent="-369" horiz-adv-x="565" vert-adv-y="565"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.345,3.001)"><path d="M226 352V458C164 439 105 428 40 420V387C87 376 95 372 95 322V108C95 49 87 44 31 39V0H310V39C231 45 226 49 226 108V289C243 329 263 341 282 341C299 341 313 334 330 321C337 315 347 312 361 317C388 327 411 355 411 393C411 428 382 457 342 457C308 457 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Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits 