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Impedance control of manipulators carrying a heavy payload.
Farhad Aghili
Published in:
IROS (2009)
Keyphrases
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impedance control
robotic systems
force control
model free
manipulation tasks
control law
optimal control
path planning
motion planning
degrees of freedom
master slave
adaptive control
image sequences
closed loop
real time
function approximation
motor control
control algorithm
visual servoing
contact force
mathematical model