Robust, non-linear impedance control for robot manipulators
نویسنده
چکیده
NomencLature A the closectloop mapping from r to f d nxl external-force vector on the robot end-polnt e nxl input trajectory vector %,dm posltive scalars E envtronment d namics f nxt vector of ttie contact force fm, &, t he l m t m value of the contact force and robot posttlon 8r ngld envlronment robot dynamics with positloning controller comDensator transfer functlon matrlx nxl hput-command Vector degrees of the freedom of the system n(6 robot rnanlpulator stiffness
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