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Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle.
Toshiro Noritsugu
Fuminori Ando
Shujiro Dohta
Takashi Yamanaka
Published in:
J. Robotics Mechatronics (1995)
Keyphrases
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force control
robot manipulators
position control
end effector
inverse kinematics
control of robot manipulators
control scheme
closed loop
dynamic model
control strategy
control law
pid controller
neural network
mathematical model
contact force