Adaptive Interaction Controller for Compliant Robot Base Applications
The aim of this paper is to design an adaptive interaction controller to deal with compliant base robotic systems executing interaction tasks (e.g., assembly tasks). The main goal of such controller is to avoid the force-overshoots while compensating the robot base dynamics. The proposed controller...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8590709/ |