Impedance Control using UR5 Manipulator, A Simulation

In this project, our team implemented impedance control to control the UR5 robot manipulator with a simulated end-effector force sensor to achieve three-dimensional contour tracing. Such implementation enables the robot controller to construct a dynamic relation between manipulator variables such as force and position, so that the robot can act compliantly to the environment based on control gains and adjust both position and force at the same time.