Draw a block diagram of the digital control system

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In a planar contour tracking task performed by a robot manipulator, the robot end-effector is required to track the contour of an unknown object with a given reference tangential velocity and by applying a given force to the object in the normal direction. For this purpose a force sensor can be applied on the end-effector, while the end-effector velocity can be determined by means of the joint velocities. Draw a block diagram of the digital control system.

Reference no: EM131264245

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