LIBROS DEL AUTOR: christian ott

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  • Cartesian Impedance Control of Redundant and Flexible-Joint Robots
    Christian Ott
    Modeling of Flexible Joint Robots.- Cartesian Impedance Control: The Rigid Body Case.- Nullspace Stiffness.- The Singular Perturbation Approach.- Controller Design Based on the Cascaded Structure.- A Passivity Based Approach.- Evaluation.- Applications.- Controller Comparison and Conclusions. ...
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