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Hybrid position/force tracking for a class of constrained mechanical systems

โœ Scribed by Jing-Sin Liu

Publisher
Elsevier Science
Year
1991
Tongue
English
Weight
279 KB
Volume
17
Category
Article
ISSN
0167-6911

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## Abstract This paper proposes a robust adaptive motion/force tracking controller for holonomic constrained mechanical systems with parametric uncertainties and disturbances. First, two types of wellโ€known holonomic systems are reformulated as a unified control model. Based on the unified control