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1

Plummer, A. R. "Robust electrohydraulic force control." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 221, no. 4 (2007): 717–31. http://dx.doi.org/10.1243/09596518jsce370.

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2

HUANG, HAN-PANG, and MARLON LIN. "Robust force control for robotic manipulators." International Journal of Control 56, no. 3 (1992): 631–53. http://dx.doi.org/10.1080/00207179208934332.

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3

Damaren, Christopher J., and Lan Le-Ngoc. "Robust Active Vibration Control of a Bandsaw Blade." Journal of Vibration and Acoustics 122, no. 1 (1999): 69–76. http://dx.doi.org/10.1115/1.568437.

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An analytical study of a vibrating bandsaw blade is presented. The blade is modeled as a plate translating over simply-supporting guides. Gyroscopic effects due to the blade’s axial motion as well as in-plane forces resulting from tensioning and the influence of the cutting force are included in the model. The latter is modeled as a nonconservative follower force on the cutting edge of the blade and shown to be destabilizing. A state-space model is developed which includes the effects of time-varying cutting forces and exogenous disturbances. Feedback control via a collocated force actuator/ra
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4

Calanca, Andrea, Luca Capisani, and Paolo Fiorini. "Robust Force Control of Series Elastic Actuators." Actuators 3, no. 3 (2014): 182–204. http://dx.doi.org/10.3390/act3030182.

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5

El Rifai, Osamah M., and Kamal Youcef-Toumi. "Robust Adaptive Control of Atomic Force Microscopes." IFAC Proceedings Volumes 37, no. 14 (2004): 669–74. http://dx.doi.org/10.1016/s1474-6670(17)31180-1.

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6

Sato, Susumu, Shigenori Sano, Kentaro Takagi, Naoki Uchiyama, and Shoji Takagi. "359 Robust force control using IPMC actuator." Proceedings of Conference of Tokai Branch 2009.58 (2009): 203–4. http://dx.doi.org/10.1299/jsmetokai.2009.58.203.

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7

Kim, Sung I., Robert G. Landers, and A. Galip Ulsoy. "Robust Machining Force Control With Process Compensation." Journal of Manufacturing Science and Engineering 125, no. 3 (2003): 423–30. http://dx.doi.org/10.1115/1.1580849.

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Force control is an effective means of improving the quality and productivity of machining operations. Metal cutting force models are difficult to accurately generate and, thus, there is large uncertainty in the model parameters. This has lead to investigations into robust force control techniques; however, the approaches reported in the literature include known process changes (e.g., a change in the depth-of-cut) in the model parameters variations. These changes create substantial variations in the model parameters; thus, only loose performance bounds may be achieved. A novel robust force con
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8

Dawson, D. M., F. L. Lewis, and J. F. Dorsey. "Robust Force Control of a Robot Manipulator." International Journal of Robotics Research 11, no. 4 (1992): 312–19. http://dx.doi.org/10.1177/027836499201100404.

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9

Komada, Satoshi, Muneaki Ishida, Kouhei Ohnishi, and Takamasa Hori. "Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force." Journal of Robotics and Mechatronics 8, no. 3 (1996): 243–51. http://dx.doi.org/10.20965/jrm.1996.p0243.

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This paper proposes a new robust hybrid position/force control of robot manipulators. The proposed method controls the second derivatives of control variables, such as position and force in a task coordinate system, in order to realize robust and high response control. To this end, the disturbances are estimated by a position-based disturbance observer and a force-based distrubance observer in the task coordinate system, and are compensated by feeding back the estimated distrubances. The proposed method requires less computational effort and is robust against the disturbance and parameter vari
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10

Wang, Nengmou, and Hojjat Adeli. "ROBUST VIBRATION CONTROL OF WIND-EXCITED HIGHRISE BUILDING STRUCTURES." Journal of Civil Engineering and Management 21, no. 8 (2015): 967–76. http://dx.doi.org/10.3846/13923730.2015.1068843.

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A robust filtered sliding mode control (SMC) approach is presented for vibration control of wind-excited highrise building structures. Rather than using a Lyapunov-function based control design, an alternative way is provided to find the control force based on the equivalent control force principle to obtain the control force. A low pass filter is properly selected to remove the high-frequency components of the control force while retaining the structural stability. The performance of the proposed filtered SMC is evaluated by application to a wind-excited 76-story building benchmark problem eq
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11

Baspinar, Cumhur. "Robust Position/Force Control of Constrained Flexible Joint Robots with Constraint Uncertainties." Journal of Intelligent & Robotic Systems 100, no. 3-4 (2020): 945–54. http://dx.doi.org/10.1007/s10846-020-01220-1.

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AbstractA novel robust control method for simultaneous position/force control of constrained flexible joint robots is proposed. The facts that the uncertainties make the usual control task unsolvable and that the equations of the controlled system are differential-algebraic make the problem dealt with considerably demanding. In order to overcome the unsolvability problem due to the constraint uncertainties the position control task is redefined in a practical way such that only a suitable subgroup of the link positions are driven to their desired trajectories. To determine the elements of the
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12

NARIKIYO, Tatsuo, G^ ^uuml;nther SCHMIDT, and Tomohiko AKUTA. "Robust Hybrid Position/Force Control for Robot Manipulators." Transactions of the Society of Instrument and Control Engineers 29, no. 7 (1993): 810–18. http://dx.doi.org/10.9746/sicetr1965.29.810.

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13

Jankowski, Krzysztof P., and Hoda A. ElMaraghy. "Robust hybrid position/force control of redundant robots." Robotics and Autonomous Systems 27, no. 3 (1999): 111–27. http://dx.doi.org/10.1016/s0921-8890(99)80003-7.

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14

Narikiyo, T., G. Schmidt, and T. Akuta. "Robust Hybrid Position/Force Control for Robot Manipulators." IFAC Proceedings Volumes 26, no. 2 (1993): 551–54. http://dx.doi.org/10.1016/s1474-6670(17)48788-x.

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15

Matsuno, Fumitoshi, Shozaburo Kasai, Miwako Tanaka, and Kuniko Wakashiro. "Robust Force Control of One-Link Flexible Arms." IFAC Proceedings Volumes 29, no. 1 (1996): 115–20. http://dx.doi.org/10.1016/s1474-6670(17)57648-x.

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16

Charbonnaud, P., F. J. Carrillo, and D. Ladevèze. "Monitored robust force control of a milling process." Control Engineering Practice 9, no. 10 (2001): 1047–61. http://dx.doi.org/10.1016/s0967-0661(01)00074-0.

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17

Kwan, C. M. "Robust adaptive force/motion control of constrained robots." IEE Proceedings - Control Theory and Applications 143, no. 1 (1996): 103–9. http://dx.doi.org/10.1049/ip-cta:19960090.

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18

HA, In-Chul, and Myoung-Chul HAN. "Robust Hybrid Position/Force Control with Adaptive Scheme." JSME International Journal Series C 47, no. 4 (2004): 1161–65. http://dx.doi.org/10.1299/jsmec.47.1161.

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19

Chuang, Ning, Ian R. Petersen, and Hemanshu R. Pota. "Robust H∞Control in Fast Atomic Force Microscopy." Asian Journal of Control 15, no. 3 (2012): 872–87. http://dx.doi.org/10.1002/asjc.585.

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20

Weber, Felix. "Robust force tracking control scheme for MR dampers." Structural Control and Health Monitoring 22, no. 12 (2015): 1373–95. http://dx.doi.org/10.1002/stc.1750.

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21

SANO, Shigenori, Kentaro TAKAGI, Suguru HIRAYAMA, Susumu SATO, and Naoki UCHIYAMA. "Robust PID Force Control of Ionic Polymer Actuators." TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 78, no. 785 (2012): 82–91. http://dx.doi.org/10.1299/kikaic.78.82.

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22

Nourizadeh, Reza, S. Mehdi Rezaei, Mohammad Zareinejad, Keivan Baghestan, Ali Tivay, and Mozafar Saadat. "Robust hydraulic actuator force control through relief discharge." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 229, no. 4 (2015): 308–18. http://dx.doi.org/10.1177/0959651814564480.

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23

Chantranuwathana, Supavut, and Huei Peng. "Adaptive robust force control for vehicle active suspensions." International Journal of Adaptive Control and Signal Processing 18, no. 2 (2004): 83–102. http://dx.doi.org/10.1002/acs.783.

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24

Green, Scott A., and Kevin C. Craig. "Robust, Digital, Nonlinear Control of Magnetic-Levitation Systems." Journal of Dynamic Systems, Measurement, and Control 120, no. 4 (1998): 488–95. http://dx.doi.org/10.1115/1.2801490.

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This paper presents a robust, adaptive, nonlinear controller for a class of magnetic-levitation systems, which includes active-magnetic bearings. The controller is analytically and experimentally shown to be superior to a classical linear control system in stability, control effort, step-response performance, robustness to parameter variations, and force-disturbance rejection performance. Using an adaptive backstepping approach, a Lyapunov function is generated along with an adaptive control law such that the nonlinear, closed-loop, continuous system is shown to guarantee stability of the equi
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25

Wei, Bin. "A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators." Inventions 4, no. 3 (2019): 49. http://dx.doi.org/10.3390/inventions4030049.

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A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informativ
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26

Kuo, C. Y., and Shay-Ping T. Wang. "Nonlinear Robust Hybrid Control of Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 112, no. 1 (1990): 48–54. http://dx.doi.org/10.1115/1.2894138.

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The success of a robot force and position (hybrid) control scheme relies extensively upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and environment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and gives a set of position and force equations in the hand or cartesian coordinates. The linear part applies the servomechanism theory to suppress position or
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27

Ohishi, Kiyoshi, and Satoshi Matsuda. "Robust control of force and compliance for DD actuator." IEEJ Transactions on Industry Applications 110, no. 11 (1990): 1133–40. http://dx.doi.org/10.1541/ieejias.110.1133.

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28

MATSUNO, Fumitoshi, Shozaburo KASAI, Miwako TANAKA, and Kuniko WAKASHIRO. "Robust Force Control of a One-Link Flexible Arm." Transactions of the Society of Instrument and Control Engineers 32, no. 7 (1996): 1011–19. http://dx.doi.org/10.9746/sicetr1965.32.1011.

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29

YAO, Jianyong, Zongxia JIAO, Bin YAO, Yaoxing SHANG, and Wenbin DONG. "Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator." Chinese Journal of Aeronautics 25, no. 5 (2012): 766–75. http://dx.doi.org/10.1016/s1000-9361(11)60443-3.

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30

Sariyildiz, Emre, and Kouhei Ohnishi. "On the Explicit Robust Force Control via Disturbance Observer." IEEE Transactions on Industrial Electronics 62, no. 3 (2015): 1581–89. http://dx.doi.org/10.1109/tie.2014.2361611.

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31

Xia, Q. H., S. Y. Lim, Marcelo H. Ang, and T. M. Lim. "PARALLEL FORCE AND MOTION CONTROL USING ROBUST VELOCITY OBSERVER." IFAC Proceedings Volumes 39, no. 16 (2006): 289–94. http://dx.doi.org/10.3182/20060912-3-de-2911.00052.

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32

Driver, Tad, and Xiangrong Shen. "Pressure Estimation-Based Robust Force Control of Pneumatic Actuators." International Journal of Fluid Power 14, no. 1 (2013): 37–45. http://dx.doi.org/10.1080/14399776.2013.10781067.

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33

Ziren Lu and Andrew A. Goldenberg. "Robust Impedance Control and Force Regulation: Theory and Experiments." International Journal of Robotics Research 14, no. 3 (1995): 225–54. http://dx.doi.org/10.1177/027836499501400303.

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34

Sanchez Pena, R. S., R. Alonso, and P. A. Anigstein. "Robust optimal solution to the attitude/force control problem." IEEE Transactions on Aerospace and Electronic Systems 36, no. 3 (2000): 784–92. http://dx.doi.org/10.1109/7.869496.

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35

Li, Zhijun, and Yunong Zhang. "Robust adaptive motion/force control for wheeled inverted pendulums." Automatica 46, no. 8 (2010): 1346–53. http://dx.doi.org/10.1016/j.automatica.2010.05.015.

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36

Yang, Qinmin, and Jiangang Lu. "Robust Integral of NN and Error Sign Control for Nanomanipulation Using AFM." International Journal of Intelligent Mechatronics and Robotics 2, no. 2 (2012): 78–90. http://dx.doi.org/10.4018/ijimr.2012040106.

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This paper presents a novel control methodology for automatically manipulating nano particles on the substrate by using Atomic Force Microscope (AFM). The interactive forces and dynamics between the tip, particle and substrate are modeled and analyzed including the roughness effect of the substrate. Further, the control signal is designed to consist of the robust integral of a neural network (NN) output plus the sign of the error feedback signal multiplied with an adaptive gain. Using the NN-based adaptive force controller, the task of pushing nano particles is demonstrated in simulation envir
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37

Fang, L., Y. H. Yin, and Z. N. Chen. "Robust simultaneous optimal design of structure and control for a wire bonding force control system." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 221, no. 2 (2007): 177–86. http://dx.doi.org/10.1243/0954406jmes361.

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This paper presents a novel methodology for a wire bonding force control system based on robust simultaneous optimal design of structure and control system. By this approach, overshoot of bonding force and effects of fluctuation of system parameters can be dealt with to fulfill the requirement of advanced wire bonding system. The first step is to investigate the close loop of wire bonding force control system. Next step, a robust optimization model and a performance index combined the overshoot and fluctuations of bonding force are presented. The third step is to optimize these parameters of c
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38

Southward, S. C., C. J. Radcliffe, and C. R. MacCluer. "Robust Nonlinear Stick-Slip Friction Compensation." Journal of Dynamic Systems, Measurement, and Control 113, no. 4 (1991): 639–45. http://dx.doi.org/10.1115/1.2896469.

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A nonlinear compensation force for stick-slip friction is developed to supplement a proportional + derivative control law applied to a one-degree-of-freedom mechanical system. Inertial control objects acted on by stick-slip friction are common mechanical components in mechanical servo systems and the conceptual model chosen for this investigation is a mass sliding on a rough surface. The choice of a discontinuous compensation force is motivated by the requirement that the desired reference be a unique equilibrium point of the system. The stick-slip friction force, modelled with a sticking forc
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39

Song, QiaoZhi, ZhiChun Yang, and Wei Wang. "Robust control of exciting force for vibration control system with multi-exciters." Science China Technological Sciences 56, no. 10 (2013): 2516–24. http://dx.doi.org/10.1007/s11431-013-5329-8.

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40

Chen, Pang-Chia, Shih-Ming Pan, Hung-Shiang Chuang, and Chih-Huang Chiang. "Dynamics Analysis and Robust Control for Electric Unicycles Under Constrained Control Force." Arabian Journal for Science and Engineering 41, no. 11 (2016): 4487–507. http://dx.doi.org/10.1007/s13369-016-2163-x.

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41

Chang, P. H., D. S. Kim, and K. C. Park. "Robust force/position control of a robot manipulator using time-delay control." Control Engineering Practice 3, no. 9 (1995): 1255–64. http://dx.doi.org/10.1016/0967-0661(95)00124-d.

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42

Mnif, F., E. K. Boukas, and M. Saad. "Robust Control for Constrained Robot Manipulators." Journal of Dynamic Systems, Measurement, and Control 121, no. 1 (1999): 129–33. http://dx.doi.org/10.1115/1.2802431.

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In this paper, a robust control law for constrained manipulators with parametric uncertainties is derived. Two schemes are presented; the first, based on The Corless-Leitmann approach, will guarantee ultimate uniform stability of the system, and hence uniform boundedness errors convergence. As a second approach, a class of continuous feedback controls is proposed to guarantee asymptotic stability of the uncertain system. The analysis is based on a theoretical result of asymptotic stability. In this approach, due to the continuity of the control and asymptotic stability of the system, we can ac
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43

Chung, Jae H. "Control of an operator-assisted mobile robotic system." Robotica 20, no. 4 (2002): 439–46. http://dx.doi.org/10.1017/s0263574702004113.

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In this paper, two different control methods are developed for an operator-assisted mobile robotic system for high load applications. For high load applications of mobile robots, an accurate tire model that considers wheel slip needs to be studied to achieve robustness of the system response. First, a simple operator-manipulator coordination system is developed based on explicit force control. Then, a position controller for the platform is designed to minimize the effect of wheel slip on control performance and integrated with the force controller for the operator-manipulator subsystem based
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44

Kallu, Karam Dad, Amad Zafar, Muhammad Umair Ali, Shahzad Ahmed, and Min Cheol Lee. "Robust Controller for Pursuing Trajectory and Force Estimations of a Bilateral Tele-Operated Hydraulic Manipulator." Remote Sensing 13, no. 9 (2021): 1648. http://dx.doi.org/10.3390/rs13091648.

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In hazardous/emergency situations, public safety is of the utmost concern. In areas where human access is not possible or is restricted due to hazardous situations, a system or robot that can be distantly controlled is mandatory. There are many applications in which force cannot be applied directly while using physical sensors. Therefore, in this research, a robust controller for pursuing trajectory and force estimations while deprived of any signals or sensors for bilateral tele-operation of a hydraulic manipulator is suggested to handle these hazardous, emergency circumstances. A terminal sl
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45

Park, Jaeheung, and Oussama Khatib. "Robot multiple contact control." Robotica 26, no. 5 (2008): 667–77. http://dx.doi.org/10.1017/s0263574708004281.

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SUMMARYThis paper addresses the problem of contact force control for multiple contacts distributed over multiple links in a robot. This is of importance when performing complex tasks in unstructured environment, particularly in humanoid robot applications. The proposed multicontact control framework provides a new way of defining the operational space coordinates, which facilitates the specification of multiple contact control. The contact force space on multiple links is constructed as an operational space for the highest priority task. Motion control, given lower priority, can be executed us
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46

Zeng, Ganwen, and Ahmad Hemami. "An overview of robot force control." Robotica 15, no. 5 (1997): 473–82. http://dx.doi.org/10.1017/s026357479700057x.

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This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition with speciality on their differences and different application conditions, and to give a guide of the existing robot force control algorithms. The previous work can be categorized into discussion, design and/or application of fundamental force control techniques, stability analysis of the various control algorithms, and the advanced methods. Advanced methods combine the fundamental force control techniques w
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47

Sariyildiz, Emre, Rahim Mutlu, and Haoyong Yu. "A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators." Robotica 38, no. 1 (2019): 15–28. http://dx.doi.org/10.1017/s0263574719000420.

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SummaryThis paper deals with the robust force and position control problems of series elastic actuators (SEAs). It is shown that an SEA’s force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA’s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and
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48

Karan, Branko. "Robust position-force control of robot manipulator in contact with linear dynamic environment." Robotica 23, no. 6 (2005): 799–803. http://dx.doi.org/10.1017/s0263574705001724.

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The paper presents a control scheme for simultaneous control of position and force of robot manipulator in contact with an elastodynamic environment. The control makes the assumption that interaction force between the robot and environment is adequately modeled by a second-order linear model with constant coefficients, and its implementation requires the knowledge of only boundary values of the environment parameters. It is shown that, provided that robot dynamics is exactly modeled, the scheme ensures asymptotic convergence of errors along nominal trajectories characterized by constant prescr
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49

Song, G., and L. Cai. "Robust position/force control of robot manipulators during constrained tasks." IEE Proceedings - Control Theory and Applications 145, no. 4 (1998): 427–33. http://dx.doi.org/10.1049/ip-cta:19982114.

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50

Oh, Sehoon, and Kyoungchul Kong. "High-Precision Robust Force Control of a Series Elastic Actuator." IEEE/ASME Transactions on Mechatronics 22, no. 1 (2017): 71–80. http://dx.doi.org/10.1109/tmech.2016.2614503.

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