A force limiting adaptive controller for a robotic system undergoing a non-contact to contact transition. Liang, C. H., Bhasin, S., Dupree, K., & Dixon, W. E. IEEE Trans. Control Syst. Technol., 17(6):1330–1341, 2009.
A force limiting adaptive controller for a robotic system undergoing a non-contact to contact transition [pdf]1  A force limiting adaptive controller for a robotic system undergoing a non-contact to contact transition [pdf]Paper  bibtex   

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