The paper clarifies null-space wrench components for redundant parallel manipulators by adapting grasp concepts, resolves ambiguities in interaction forces and internal loads, and provides explicit methods to synthesize equilibrating and manipulating joint torques.
A symmetric hybrid position/force control scheme for the coordination of two robots
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2026 1verdicts
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Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
The paper clarifies null-space wrench components for redundant parallel manipulators by adapting grasp concepts, resolves ambiguities in interaction forces and internal loads, and provides explicit methods to synthesize equilibrating and manipulating joint torques.