NASA NTRS · 20060042153
Experiments in Contact Control
Abstract
The implementation, experimentation, and application of contact control schemes for a 7-DOF Robotics Research arm is presented. Three types of control schemes are presented: compliance cntrol, force control, and dual-mode control. This presentation is concluded with the application of the proposed schemes to perform a contact-based eddy-current inspection task.
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Seraji, H., Steele, R.. 1994-01-01. Experiments in Contact Control. https://ntrs.nasa.gov/citations/20060042153
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