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Title: Parallel force and motion control using robust velocity observer
Authors: Xia, Q.H.
Lim, S.Y.
Ang Jr., M.H. 
Lim, T.M.
Keywords: Backwards difference
Dynamic model
Force control subspace
Motion control subspace
Operational space
Parallel force and motion control
Position linearization
Velocity observation
Issue Date: 2006
Citation: Xia, Q.H.,Lim, S.Y.,Ang Jr., M.H.,Lim, T.M. (2006). Parallel force and motion control using robust velocity observer. IFAC Proceedings Volumes (IFAC-PapersOnline) 4 (PART 1) : 289-294. ScholarBank@NUS Repository.
Abstract: A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces as compared with the controller using filtered velocity.
Source Title: IFAC Proceedings Volumes (IFAC-PapersOnline)
ISBN: 9783902661173
ISSN: 14746670
Appears in Collections:Staff Publications

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