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Journal of Robotics
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop systemdoi:10.1155/2018/9324623 fatcat:rbs5njtxdba7jogc2oqfc7wvoq