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- W2135180928 abstract "Previous implementations of robot force control seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. When a manipulator is constrained to an environment (force-controlled), geometric stability due to the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability and analyzes the phenomenon both analytically and graphically. Sequential joint self-motion algorithms for kinematically redundant manipulators are suggested for reduced transitional impact and greater stability in the ensuing force-controlled operation. >" @default.
- W2135180928 created "2016-06-24" @default.
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- W2135180928 date "2002-12-10" @default.
- W2135180928 modified "2023-09-23" @default.
- W2135180928 title "Geometric stability in force control" @default.
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- W2135180928 doi "https://doi.org/10.1109/robot.1991.131588" @default.
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