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Keywords: force/torque control
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Proceedings Papers

Proc. ASME. ISPS2021, ASME 2021 30th Conference on Information Storage and Processing Systems, V001T10A001, June 2–3, 2021
Publisher: American Society of Mechanical Engineers
Paper No: ISPS2021-65255
... controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete. embedded system FPGA-based force/torque control PID algorithm high-speed controller noise cancellation anti-collision 6-DOF articulated...