Hello everyone,
I am currently researching impedance control for a 7-degree-of-freedom robot (such as the Franka Emika Panda or KUKA). My goal is to ensure that the robot exhibits compliant behavior when interacting with static or dynamic obstacles.
As you may know, implementing impedance control requires inertia, Coriolis, and gravity matrices. However, I have not been able to find sufficient resources on this topic.
If anyone has worked on this before or has relevant simulation files, I would greatly appreciate any guidance. Any papers, code, or experiences that could help in this regard would be highly valuable.
Thank you in advance for your support!