Proof of concept implementation and graphs used in Master's Thesis:

• Title of the thesis: "Lazy Robot Control by Relaxation of Motion and Force Constraints"
• Supervisors: Prof. Dr. Paul G. Plöger, Prof. Dr. Herman Bruyninckx and M. Sc. Sven Schneider
• Report (HBRS publication portal)
• Defence Presentation

Controller Demos on a Real 7DoF Manipulator (without Force/Torque sensor - Ext. wrench estimated using a momentum observer):

Kinova_Gen3_Surface_Polishing_Using_Force_Feedback.mp4

Dual_Kinova_Gen3_Surface_Polishing.mp4