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- W2000735748 abstract "Abstract The force feedback algorithm is presented for the manipulator which consists of a high stiffness position servo system with six-degree of freedom and has a compliant six-component force sensor at its wrist. The obtained algorithm has the following three features. First, this algorithm gives the relation between the position and orientation of the wrist at the present step and that of the wrist to be attained at the next step. Second, an efficient calculation method to obtain each joint movement satisfying this relation is proposed. Third, this algorithm reduces the force feedback control to the position feedback control of each joint in case the force sensor is sufficiently compliant compared with its environment." @default.
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- W2000735748 date "1983-01-01" @default.
- W2000735748 modified "2023-09-27" @default.
- W2000735748 title "On the force feedback control of a manipulator with a compliant wrist force sensor" @default.
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- W2000735748 doi "https://doi.org/10.1016/0094-114x(83)90008-3" @default.
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