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Force control of redundant robots in unstructured environment
2002
IEEE transactions on industrial electronics (1982. Print)
In the paper a method for force control of redundant robots in unstructured environment is proposed. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end effector. First, the dynamic properties of the internal motion of redundant manipulators are considered. The motion is decoupled into the end-effector motion and the internal motion. Next, the dynamic model of a redundant
doi:10.1109/41.982267
fatcat:grsgsifnnngllmuabxs6d7yfsm