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• W45950046 abstract "<p class=western><span style=font-family: Calibri, serif;><span><span style=font-family: 'Times New Roman', serif;><span>In</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>this</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>pape</span></span><span style=font-family: 'Times New Roman', serif;><span>r</span></span><span style=font-family: 'Times New Roman', serif;><span>,</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>a</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>singularity-free</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>control</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>methodology</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>for</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>s</span></span><span style=font-family: 'Times New Roman', serif;><span>afe</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>robot-human</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>interaction</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>is</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>proposed</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>using</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>a</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>h</span></span><span style=font-family: 'Times New Roman', serif;><span>ybrid</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>control</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>technique</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>in</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>robotic</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>rehabilitation</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>applications.</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>W</span></span><span style=font-family: 'Times New Roman', serif;><span>ith</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>use</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>of</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>max-plus</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>algebra,</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>a</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>h</span></span><span style=font-family: 'Times New Roman', serif;><span>ybrid</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>controller</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>is</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>designed</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>to</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>guarantee</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>feasible</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>robot</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>motion</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>in</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>vicinity</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>of</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>kinematic</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>singularities</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>or</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>going</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>through</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>and</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>staying</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>at</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>singular</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>configuration.</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>The</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New 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Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>does</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>not</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>require</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>a</span></span><span style=font-family: 'Times New Roman', serif;><span>n</span></span><span style=font-family: 'Times New Roman', serif;><span>y</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>information</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', 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serif;><span>y</span></span><span style=font-family: 'Times New Roman', serif;><span>.</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>The</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>proposed</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>control</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>algorithm</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>is</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>applied</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>to</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>PUMA</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>560</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>robot</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>arm,</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>a</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>six-axis</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>industrial</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>robot.</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>The</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>results</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>demonstrate</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>v</span></span><span style=font-family: 'Times New Roman', serif;><span>alidity</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>of</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>the</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>proposed</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>control</span></span><span style=font-family: 'Times New Roman', serif;><span> </span></span><span style=font-family: 'Times New Roman', serif;><span>scheme.</span></span></span></span></p>" @default.
• W45950046 created "2016-06-24" @default.
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• W45950046 date "2015-06-01" @default.
• W45950046 modified "2023-09-26" @default.
• W45950046 title "A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance" @default.
• W45950046 doi "https://doi.org/10.11591/ijra.v4i2.pp98-108" @default.
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