On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment

Nabil Zemiti, Guillaume Morel, Alain Micaelli, Barthelemy Cagneau, Delphine Bellot. On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment. IEEE Trans. Contr. Sys. Techn., 18(2):307-322, 2010. [doi]

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