Hybrid position/force control of flexible-macro/rigid-micro manipulator systems

@article{Yoshikawa1996HybridPC,
  title={Hybrid position/force control of flexible-macro/rigid-micro manipulator systems},
  author={Tsuneo Yoshikawa and Kensuke Harada and Atsushi Matsumoto},
  journal={IEEE Trans. Robotics Autom.},
  year={1996},
  volume={12},
  pages={633-640}
}
Abstruct- In this paper, hybrid positiodforce control algorithms of combined flexible-macrokigid-micro manipulator systems are proposed. In the proposed system, the micro manipulator is attached at the tip of the flexible macro manipulator. The macro manipulator can move widely, but cannot realize fast and precise motion because of its flexibility. On the contrary, the micro manipulator cannot move widely, but can move fast and precisely. By taking advantage of the macrohicro system, both the… 

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