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- W1949900313 abstract "A dynamical model and a control architecture are developed for the closed-chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are determined and combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced-order equations of motion and a functional relation for the generalized contact forces are developed. The problem of solving the reduced-order model for the forward and inverse dynamics is discussed. Control laws are determined so as to decouple the force-controlled and position-controlled degrees of freedom during motion of the system. >" @default.
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- W1949900313 date "2003-01-07" @default.
- W1949900313 modified "2023-09-26" @default.
- W1949900313 title "Reduced order model and decoupled control architecture for two manipulators holding an object" @default.
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- W1949900313 doi "https://doi.org/10.1109/robot.1989.100150" @default.
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