On-line learning of robot arm impedance
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Toshio Tsuji; Yoshiyuki Tanaka
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Article
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2005
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Elsevier Science
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English
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Impedance control is an effective control method for a manipulator that is in contact with its environment. Nevertheless, the characteristics of force and motion control are determined by impedance parameters of the end-effector of the manipulator, which must be designed according to the given task.