For citations:

Serebrennyj V.V., Boshlyakov A.A., Ogorodnik A.I. Current Control and Force Control in the Drives of Robot Grippers. Mekhatronika, Avtomatizatsiya, Upravlenie. 2018;19(8):542-551. (In Russ.) https://doi.org/10.17587/mau.19.542-551