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- Title:
Optimal control of elastic joints with variable damping
- Document type:
- Konferenzbeitrag
- Author(s):
- ̈Ozparpucu, Can Mehmet; Haddadin, Sami
- Keywords:
- damping; elasticity; manipulator kinematics; optimal control; time-varying systems; elastic joints optimal control; elastic robot control; kinetic energy; optimal switching patterns; potential energy; variable damping; Damping; Differential equations; Equations; Joints; Optimal control; Switches; Trajectory
- Book / Congress title:
- Control Conference (ECC), 2014 European
- Publisher address:
- Strasbourg, France
- Year:
- 2014
- Month:
- June, 24-27
- Pages:
- 2526-2533
- Fulltext / DOI:
- doi:10.1109/ECC.2014.6862266
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