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Keywords: Internal Force
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Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2002, 124(1): 67–75.
Published Online: June 4, 2001
..., there are more actuators than the degrees of freedom of the system. Through decomposing the manipulator end-effector wrenches into resultant and internal force components, control laws are derived such that the internal forces are used to stabilize the system zero dynamics. Consequently, nonlinear inversion...
