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Passive joint torque control Equation

In the passive joint torque control mode, an external force given to the arm can be absorbed smoothly. Here, a stiffness control, a compliance control and an impedance control are considered by using the inner servo system given by Equation 3.2. [Pg.107]

See also in sourсe #XX -- [ Pg.3 , Pg.5 , Pg.8 , Pg.13 , Pg.107 , Pg.108 , Pg.110 ]



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