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The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.<\/jats:p>","DOI":"10.1017\/s0263574716000461","type":"journal-article","created":{"date-parts":[[2016,7,7]],"date-time":"2016-07-07T04:11:13Z","timestamp":1467864673000},"page":"1732-1746","source":"Crossref","is-referenced-by-count":9,"title":["Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation"],"prefix":"10.1017","volume":"35","author":[{"given":"Loris","family":"Roveda","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nicola","family":"Pedrocchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Federico","family":"Vicentini","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lorenzo","family":"Molinari Tosatti","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2016,7,7]]},"reference":[{"key":"S0263574716000461_ref22","doi-asserted-by":"crossref","unstructured":"J. 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