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Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment

Dennis J. F. Heck, Alessandro Saccon, Nathan van de Wouw, Henk Nijmeijer. Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment. Automatica, 63:235-247, 2016. [doi]

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