Robotics Research Technical Report: Changes in Nrtx (Classic Reprint) - Softcover

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Excerpt from Robotics Research Technical Report: Changes in Nrtx

The main goal of the force-position controller is to compute new robot set points, given the current position of the robot arm and the forces acting upon the tool tip. This force-position controller design is adequate for our needs, since we are more concerned with quasi-static planning issues than with dynamic control of the robot arm.

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