Use when a robot arm moves fast, interacts with the environment (contact, insertion, polishing, human contact), or position control alone is failing — torque ripple, overshoot at speed, crashes on contact. Provides rigid-body dynamics, torque vs position control, impedance/admittance control design
Use when a robot arm moves fast, interacts with the environment (contact, insertion, polishing, human contact), or position control alone is failing — torque ripple, overshoot at speed, crashes on contact. Provides rigid-body dynamics, torque vs position control, impedance/admittance control design with starting gains, F/T sensor integration, and current-based collision detection.