On the invariance of the hybrid position
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A. Abbati-Marescotti; C. Bonivento; C. Melchiorri
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Article
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1990
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Springer Netherlands
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English
β 740 KB
Recently, the noninvariance nature of the Raibert and Craig hybrid control scheme, based on the work of Mason and others, has been pointed out. In fact, on the basis of the screw theory, Lipkin and Duffy demonstrated that the selection of the position and force controlled degrees of freedom in the R