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Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments

Luca Massimiliano Capisani, Antonella Ferrara. Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments. IEEE Transactions on Industrial Electronics, 59(8):3189-3198, 2012. [doi]

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