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Force control is one of the most challenging controls in robot manipulators. In this control scheme, the system dynamic does not only depend on actuator dynamic but also environment. Non-adaptive controller is not sufficient to efficiently regulate the plant when the environment such as manipulated object, contact point, etc. is changed. Adaptive controller is able to deal with this problem; however,...
New gains tuning and impedance control method were addressed for flexible base moving manipulators. Slow and fast dynamics of robot are decoupled using singular perturbation method. Then, using sliding mode control method, an impedance control law was derived for the slow dynamics. Combined control law was proposed comprising the impedance control law and a feedback control law for the fast dynamics...
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