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Simplified block diagram of overall control block
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Block diagram of position/force control.Block diagram of force controller with inner position loop the Bloc diagram of indirect control with the power loop.Block diagram of impedance control. this type of force control is.
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Force control mode block diagramBlock diagram of direct force control with impedance matching A simplified block diagram of the control frameworkA block diagram showing the various components of the experimental.
Simplified block diagram of figure 6
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Block diagram of model-based machining force control system fig. 2Indirect approach explicit .
