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|Title:||Contact force and position control in constrained robots including effects of joint flexibility and actuator dynamics|
|Citation:||Krishnan, Hariharan (1994). Contact force and position control in constrained robots including effects of joint flexibility and actuator dynamics. Proceedings of the IEEE Conference on Decision and Control 2 : 1809-1810. ScholarBank@NUS Repository.|
|Abstract:||We consider mathematical representations of constrained robot systems in which the effects of joint flexibility and actuator dynamics are significant. A systematic procedure is developed for designing a feedback control law which ensures that the position variables track the desired position trajectories exponentially, and the force variables track the desired force trajectories exponentially despite the presence of joint flexibility and actuator dynamics.|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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