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Twin active force control for robots with flexible transmissions

✍ Scribed by J.R. Hewitt


Book ID
108014251
Publisher
Elsevier Science
Year
1989
Tongue
English
Weight
230 KB
Volume
5
Category
Article
ISSN
0736-5845

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This paper proposes a new method for the hybrid force/position control of an industrial robot, which is equipped with an internal, high bandwidth velocity controller and with a compliant end effector, during constrained motion. The method combines force control with results from active control of fl