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Based on the analysis of the interaction between a manipulatorpsilas hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constrained forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position/force controller without force sensor is proposed based on the algebraic relation...
Based on the analysis of the interaction between a manipulator for grinding process and a working object in the task space, a model representing the constrained dynamics of the robot is first presented. In the model, the constrained forces are denoted as an algebraic function of states and input generalized forces by using the equation of constraints. Using the result, a new sensorless force control...
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