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Linear and nonlinear control of a robotic excavator

✍ Scribed by Jun Gu 顾军, Xian-dong Ma, Jun-fang Ni 倪俊芳, Li-ning Sun 孙立宁


Book ID
118818168
Publisher
Central South University
Year
2012
Tongue
English
Weight
675 KB
Volume
19
Category
Article
ISSN
2095-2899

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In robotic excavation, hybrid positionrforce control has been proposed for bucket digging trajectory following. In hybrid positionrforce control, the control mode is required to switch between position-and force-control depending on whether the bucket is in free space or in contact with the soil dur