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Performance improvement of implicit integral robot force control through constraint-based optimization.
Matteo Parigi Polverini
Roberto Rossi
Giacomo Morandi
Luca Bascetta
Andrea Maria Zanchettin
Paolo Rocco
Published in:
IROS (2016)
Keyphrases
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force control
robot manipulators
robotic cell
closed loop
control strategy
optimization algorithm
impedance control
control law
global optimization
inverse kinematics
optimization problems
position control
contact force
control scheme
pid controller
optimization method
control system