Impedance control of a hydraulically act
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Q.P. Ha; Q.H. Nguyen; D.C. Rye; H.F. Durrant-Whyte
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Article
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2000
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Elsevier Science
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English
⚖ 492 KB
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