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Force Control:

, In: Lecture Notes in Electrical Engineering; Local Stability and Ultimate Boundedness in the Control of Robot Manipulators,
Arteaga, Marco A. ; Gutiérrez-Giles, Alejandro ; Pliego-Jiménez, Javier - p. 215-255 , 2021
Link: https://doi.org/10.1007/978-3-030-85980-0_8