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Position and Force Control of Two Constrained Robotic Manipulators

✍ Scribed by Mohamed Zribi; Huang Loulin; Chan Sai Piu


Book ID
110258155
Publisher
Springer Netherlands
Year
1999
Tongue
English
Weight
154 KB
Volume
24
Category
Article
ISSN
0921-0296

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The end e ector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being di erent from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act alon