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Figure5

From:  Improved impedance/admittance switching controller for the interaction with a variable stiffness environment
Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Figure 5. Cartesian equivalent inertia $$ {\bf{M}}_x({\bf{q}}) $$ along the $$ z $$ DoF as a function of the robot configuration for the considered Franka EMIKA panda robot

Complex Engineering Systems
ISSN 2770-6249 (Online)
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