most citedSwitching control for tracking of a hybrid position-force trajectory

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cs.RO2015★ 1 cited

Switching control for tracking of a hybrid position-force trajectory

D. J. F. Heck, A. Saccon, N. van de Wouw +1

This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the i…