On the force control problem for flexible joint manipulators (Q3820496)

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On the force control problem for flexible joint manipulators
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    On the force control problem for flexible joint manipulators (English)
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    1989
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    robot control
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    hybrid position
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    force control
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    Joint elasticity
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    vibrations in industrial robot arms
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    static state-feedback
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    elasticity at the joints
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    singularly perturbed system
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    integral manifold
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    two-time scale composite control law
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