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ICRA
2003
IEEE
116views Robotics» more  ICRA 2003»
13 years 9 months ago
Decoupling based Cartesian impedance control of flexible joint robots
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...
Christian Ott, Alin Albu-Schäffer, Andreas Ku...