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VDC-based admittance control of multi-DOF manipulators considering joint flexibility via hierarchical control framework

Robot KinematicsRobot ControlHierarchical Control FrameworkEngineeringVdc-based Admittance ControlMechatronicsMechanical SystemsSystems EngineeringControl DesignAdvanced Motion ControlKinematicsRoboticsJoint FlexibilityFeed Forward (Control)