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A Control Scheme With a Novel DMP-Robot Coupling Achieving Compliance and Tracking Accuracy Under Unknown Task Dynamics and Model Uncertainties.
Konstantinos Vlachos
Zoe Doulgeri
Published in:
IEEE Robotics Autom. Lett. (2020)
Keyphrases
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control scheme
tracking error
closed loop
external disturbances
dynamic model
robotic manipulator
control system
control law
multiple models
controller design
robot manipulators
control loop