For citations:

Afonin V.L., Gavrilina L.V., Smolentsev A.N. Position-Force Control for a Six Coordinate Industrial Robot when Performing Complicated Surface Treatment. Mekhatronika, Avtomatizatsiya, Upravlenie. 2019;20(1):34-43. (In Russ.) https://doi.org/10.17587/mau.20.34-43