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Journal of the Robotics Society of Japan
This paper describes an efficient design method for dynamic compliance control by taking the advantages of direct drive. First we analyze dynamic bchavior of compliance control system having force/ torque sensors attached to various locations such as wrists, arm joints and actuators. Pole-zero locations and natural frequencies as well as stability issues are compared for each control system. It is shown that the dynamic performance depends on the strucural stiffness and mass distribution asdoi:10.7210/jrsj.7.111 fatcat:djuhtfzm4jdgvf3jzixkxwruji