Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment

Seul Jung, Tien C. Hsia, Robert G. Bonitz. Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment. I. J. Robotic Res., 20(9):765-774, 2001. [doi]

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