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24
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ICRA
1998
IEEE
95
views
Robotics
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ICRA 1998
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A General Algorithm for Dynamic Feedback Linearization of Robots with Elastic Joints
14 years 24 days ago
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www.dis.uniroma1.it
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and f...
Alessandro De Luca, Pasquale Lucibello
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