... handling manipulators redundant manipulators robot kinematics topology The equality and inequality constraints on constraint force and/or the actuator force/torque arise in control of several robotic applications. Examples include cooperative manipulators holding an object ( 1 2 ), robotic...

... vector and joint friction vector and, therefore, less actuation effort is required for the compensation. 12 01 2010 25 10 2010 01 02 2011 01 02 2011 actuators force control manipulator dynamics matrix algebra redundant manipulators torque control...

... 2009 11 10 2010 11 10 2010 redundant manipulators Taguchi methods Recently, redundantly actuated parallel mechanisms have been studied because of their advantages such as no actuator singularities ( 1 ), which allows more workspace and additional stiffness, which is generated...