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A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism

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3 Author(s)
K. Khayati ; Dept. of Automated Manuf. Eng., Univ. of Quebec, Montreal, Que. ; P. Bigras ; L. -A. Dessaint