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Focusing on the interaction between robots and their environment, the book explores effective force control strategies essential for successful robotic tasks. It covers both theoretical and experimental aspects of robot interaction control, emphasizing model-based operational space techniques like stiffness and impedance control for six-degree-of-freedom tasks. Additionally, it presents direct force control strategies through modified motion control schemes and advanced techniques such as passivity-based and adaptive control. All methods are validated through experiments on a seven-joint industrial robot equipped with force/torque sensors.
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Robot Force Control, Bruno Siciliano, Luigi Villani
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- Année de publication
- 2013
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