Figure20
![Stability compensation of an admittance-controlled cartesian robot considering physical interaction with a human operator](https://image.oaes.cc/c681a9f6-fa50-4466-96e8-1f797d6823cc/ir3020-20.jpg)
Figure 20. Bode diagram of the original and feed-forward compensated system.
Figure 20. Bode diagram of the original and feed-forward compensated system.
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