Geometric Metric Predictive Impedance Control on SE(3) Manifold

• Our Project Folder: Geometric-Impedence-MPC
• Animation Generated in MATLAB:
• 

	Reference	Feedback
F_EE = 0
F_EE = k
F_EE(t)

• Pending ...

• Lie in Murray format, with OpenChain in Murray (v,w)
• OpenChainMR but in Murray format (v,w)
• RBT: rigid body transformation
• WAM_model: modelling for WAM in SE3 with twist/wrench
• Validate: validator, can be turned off for run-time performance

https://github.com/UMich-CURLY/Error-State-MPC

[OSQP Solver Oxford]

https://osqp.org/docs/get_started/matlab.html for matlab

IFAC world congress 2023: "Geometric Impedance Control on SE(3) for Robotic Manipulators"

arxiv submitted version: https://doi.org/10.48550/arXiv.2211.07945