Robot Force Control: 540 (The Springer International Series in Engineering and Computer Science)

by Bruno Siciliano (Author), Luigi Villani (Author), Bruno Siciliano (Author), Luigi Villani (Author)

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  Illustrated
  2000

  $256.96

  In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop.