... 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...

... Actuator forces related to acceleration ( Δ T = 0.3   s ) 18 08 2008 10 02 2009 12 11 2009 12 11 2009 aircraft manufacture riveting robot dynamics robot kinematics robotic assembly In the past two decades, researchers have become increasingly...

... is simply replaced by a reduced quasivelocity. 01 05 2008 13 01 2009 09 06 2009 force control motion control robot kinematics transforms The multibody systems (MBSs) dynamics are often described by the second-order nonlinear equations parametrized by a configuration...