Hybrid Control¶
Position/Force Control¶
Control position in some task space directions, force in others.
Task Frame Formulation¶
\[F_{control} = \begin{cases} K_p (x_d - x) + K_d (\dot{x}_d - \dot{x}) & \text{in position directions} \\ F_d & \text{in force directions} \end{cases}\]
Cartesian Stiffness Control¶
\[F = K(x_d - x)\]
