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Cartesian Impedance Control of Redundant and Flexible-Joint Robots

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Cover of 'Cartesian Impedance Control of Redundant and Flexible-Joint Robots'

Table of Contents

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    Book Overview
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    Chapter 1 Introduction
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    Chapter 2 Modeling of Flexible Joint Robots
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    Chapter 3 Cartesian Impedance Control: The Rigid Body Case
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    Chapter 4 Nullspace Stiffness
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    Chapter 5 The Singular Perturbation Approach
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    Chapter 6 Controller Design Based on the Cascaded Structure
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    Chapter 7 A Passivity Based Approach
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    Chapter 8 Evaluation
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    Chapter 9 Applications
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    Chapter 10 Controller Comparison and Conclusions
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