...., 2021b ; Xu et al., 2023 ; Hu et al., 2023). It builds a dynamic relationship between the interaction force and the robot end-effector position through an impedance/admittance model to achieve force tracking (Ott et al., 2010 ; Ye et al., 2024). Although impedance...

... of validation experiments indicates that the estimation of external force and prediction of surface’s shape are credible, and the position-based constant contact force controller in gravitational direction is functional. The accuracy of force tracking is adequate for targeted applications such as polishing...