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- W2490168164 abstract "Robots in force control mode often become unstable during contact with stiff environments, due mainly to the high gain nature of wrist force-sensor feedback. Three methods are presented for achieving stable force control compliant coverings or soft sensors, sell-tuning of force gains after estimation of environmental impedance, and reliance on fast open-loop joint torque control and using tip force sensor feedback in a slow loop to maintain accuracy. The latter method is proposed as the best one. Dynamic stability is analysed with a simple model of the robot and its environment. The analyses are verified by single-link experiments on the MIT Serial Link Direct Drive Arm." @default.
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- W2490168164 date "1987-06-10" @default.
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- W2490168164 title "Dynamic Stability Issues in Force Control of Manipulators" @default.
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