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Adaptive position/force control for robot manipulators in contact with a rigid surface with unknown parameters.
Javier Pliego-Jiménez
Marco A. Arteaga-Pérez
Published in:
ECC (2015)
Keyphrases
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robot manipulators
force control
end effector
position control
three dimensional
inverse kinematics
control scheme
force feedback
dynamic model
pid controller
real time
joint angles
closed loop
support vector