{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T21:56:45Z","timestamp":1648591005896},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[1998,1,1]],"date-time":"1998-01-01T00:00:00Z","timestamp":883612800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1998,1]]},"abstract":"<jats:p>Common geared industrial robots call for force control methods with special properties such as good rejection of frictional disturbances, smoothness of corrective motions, and more. A new method is presented which meets these requirements \nand provides a high control bandwidth. In the manner of hybrid control, directions of a task frame can be selected to be force, impedance or position controlled. A joint-based inner \nposition loop and a superimposed predictive force controller are used. Practical results include data from a robotic grinding facility. Here, the controller proved robustness and good performance under rough conditions.<\/jats:p>","DOI":"10.1017\/s0263574798000162","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"75-87","source":"Crossref","is-referenced-by-count":10,"title":["High-bandwidth force and impedance control for industrial robots"],"prefix":"10.1017","volume":"16","author":[{"given":"Eckhard","family":"Freund","sequence":"first","affiliation":[]},{"given":"J\u00fcrgen","family":"Pesara","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1998,1,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574798000162","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T16:23:51Z","timestamp":1567441431000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574798000162\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1998,1]]}},"alternative-id":["S0263574798000162"],"URL":"https:\/\/doi.org\/10.1017\/s0263574798000162","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998,1]]}}}