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This paper presents a method of manipulator indirect force control development, in which the force set values are specified in the operational space and the manipulator is equipped with a force sensor in its wrist. Standard control development methods need the estimation of parameters of the detailed model of a manipulator and position servos, which is a complicated and time-consuming task. Hence, in this work a time-efficient hybrid procedure of controller development is proposed consisting of both analytical and experimental stages: proposal of an approximate continuous model of a manipulator, experimental determination and verification of its parameter values using the resonance phenomenon, continuous regulator development, and digitization of the regulator.<\/jats:p>","DOI":"10.1017\/s0263574712000446","type":"journal-article","created":{"date-parts":[[2012,8,16]],"date-time":"2012-08-16T12:22:36Z","timestamp":1345119756000},"page":"465-478","source":"Crossref","is-referenced-by-count":14,"title":["Indirect force control development procedure"],"prefix":"10.1017","volume":"31","author":[{"given":"Tomasz","family":"Winiarski","sequence":"first","affiliation":[]},{"given":"Adam","family":"Wo\u017aniak","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,8,16]]},"reference":[{"key":"S0263574712000446_ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909348761"},{"key":"S0263574712000446_ref34","doi-asserted-by":"publisher","DOI":"10.1108\/01439910710774377"},{"key":"S0263574712000446_ref31","doi-asserted-by":"publisher","DOI":"10.1017\/S026357479700057X"},{"key":"S0263574712000446_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.892831"},{"key":"S0263574712000446_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84882-985-5_21"},{"key":"S0263574712000446_ref26","first-page":"644","volume-title":"Proceedings of the 2002 IEEE Conference on Robotics and Automation","author":"Tsumugiwa","year":"2002"},{"key":"S0263574712000446_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-69057-3_91"},{"key":"S0263574712000446_ref22","first-page":"729","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Meeussen","year":"2010"},{"key":"S0263574712000446_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"S0263574712000446_ref19","volume-title":"Feedback Control: Theory and Design","author":"Kurman","year":"1984"},{"key":"S0263574712000446_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"S0263574712000446_ref16","first-page":"162","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Jeong","year":"2004"},{"key":"S0263574712000446_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829495"},{"key":"S0263574712000446_ref20","volume-title":"Process Control: Designing Processes and Control Systems for Dynamic Performance","author":"Marlin","year":"1995"},{"key":"S0263574712000446_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005423"},{"key":"S0263574712000446_ref1","unstructured":"T. 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