Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots - Xiong, Gen-liang; Xie, Zong-wu; Huang, Jian-bin; Liu, Hong; Jiang, Zai-nan; Sun, Kui (Journal of Central South University of Technology. Science & technology of mining and metallurgy, 2010)
Keywords: Engineering; Metallic Materials; dynamic surface control; backstepping; PPSeCo; flexible joint robots; Cartesian impedance control