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As suggested by ben, i will put my comment as answer. 1st How to control robot I recommend you to look about resolved motion rate control. It's a complete algorithm to control a robot from path planning, control system, inverse jacobian and simulating plant. (And you can add several other algorithm to measure the state of system if you want too, very good ...

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Your intuition is partially correct in the sense that you ought to go with position control implemented via velocity commands resorting to a kinematic (not dynamic) model of the manipulator. This can be explained by inspecting one of the easiest policy used for inverse kinematics,  \dot{\mathbf{q}} = \mathbf{J}^{-1} \cdot \left( \mathbf{x}_d - \mathbf{x}(\...

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In classical position control, the feedback controller only cares about the position error and is tuned to minimize it. This is done by using very high gains, i.e. if there is even a small position error, the controller counteracts by applying very high torques to the joints. It does not matter if there is a person or a concrete wall in its path; just ...

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You can view impedance control as having more control over the force resulting at the end effector, than in position control. In position control, the goal is to get to the reference position no matter what, even if it needs the maximum force of the motor. In impedance control, you control the ratio between force and velocity. Even if the robot deviates from ...

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