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Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object.
Tsuneo Yoshikawa
Xin-Zhi Zheng
Published in:
Int. J. Robotics Res. (1993)
Keyphrases
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basis functions
robot manipulators
force control
position control
end effector
inverse kinematics
control scheme
dynamic model
state space
robotic manipulator
dynamic environments
closed loop
position and orientation
control system
objective function
pid controller
control strategy