literature on the sl_opspace model

petercorke / robotics-toolbox-matlab

Robotics Toolbox for MATLAB

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Open xibeisiber opened 2 years ago

xibeisiber commented 2 years ago

Hi,

I'm working on the hybrid force/motion control recently and find there is an simulink model "sl_opspace" in your toolbox.

I wonder if there is any literature on the controller algorithm used in "sl_opspace".

Thanks very much!

petercorke commented 2 years ago

The original 1980s paper by Khatib.