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Modeling and Force Control of a Terramechanical Wheel-Soil Contact for a Robotic Manipulator Used in the Planetary Rover Design Process.
Jan Wachter
Ralf Mikut
Fabian Buse
Published in:
IROS (2019)
Keyphrases
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design process
force control
robotic manipulator
position control
case study
robot manipulators
control strategy
computer aided design
contact force
closed loop
control scheme
dynamic model
end effector
vision system
mobile robot
control system
user interface