{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T05:57:02Z","timestamp":1775109422248,"version":"3.50.1"},"reference-count":29,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1995,12,1]],"date-time":"1995-12-01T00:00:00Z","timestamp":817776000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1995,12]]},"abstract":"<jats:p> This article discusses the essential equivalence of second-order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipula tor control. For stiff environments the correspondence is exact. However, even for softer environments, a similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are pre sented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensa tion, have equivalent response to commanded force trajectories. <\/jats:p>","DOI":"10.1177\/027836499501400604","type":"journal-article","created":{"date-parts":[[2007,3,18]],"date-time":"2007-03-18T01:44:02Z","timestamp":1174182242000},"page":"574-589","source":"Crossref","is-referenced-by-count":30,"title":["The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control"],"prefix":"10.1177","volume":"14","author":[{"given":"Richard","family":"Volpe","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory California Institute of Technology Pasadena, California 91109"}]},{"given":"Pradeep","family":"Khosla","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania, 15213"}]}],"member":"179","published-online":{"date-parts":[[1995,12,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation","author":"An, C."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/56.20440"},{"key":"atypb3","volume-title":"Robot arm dynamics and control. 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Effect of sampling rates on the performance of model-based manipulator control schemes. In Schweitzer, G. (ed.): Dynamics of Controlled Mechanical Systems. New York: Springer-Verlag , pp. 271-284.","DOI":"10.1007\/978-3-642-83581-0_21"},{"key":"atypb17","volume-title":"Proc. IEEE Conference on Decision and Control","author":"Koivo, A.J."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"atypb20","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Slotine, J."},{"key":"atypb21","volume-title":"Proceedings of the 1992 IEEE International Conference on Intelligent Robots and Systems","author":"Stewart, D."},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906094"},{"key":"atypb23","volume-title":"(September). Real and artificial forces in the control of manipulators: Theory and experiments. 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