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Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

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Figure

Figure 1. Sliding surface design consists of sliding phase andreaching phase.
Table 1. Physical Properties of BERT II arm.
Figure 4. Experimental setup using dSPACE.
Figure 7. Cartesian position x (a) and y (b) and z (c) forKr = 8 N s m−1 and Ki = 10 N m−1 (Fx = Fz = 5 N and Fy = 0).

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