Neil A. Tischler

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hpedance control is a suategy for controlling both the position of a robotic manipulator, and the forces it exerts on its environment. Stiffness control is the simplest fonn of irnpedance control. An approach to stiffness control, using force feedback. is implemented on a 2 degree-of-freedom manipulator. The two joints are actuated by bmshless d.c. motors(More)
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