Causality and robotic contact tasks problem

A formal approach is used to postulate a model of a manipulator in contact with a rigid environment, and a control problem encountered in robotic contact tasks is defined. The model is obtained using elementary causal representation of mechanical elements; springs and dampers are connected between the end-point of the manipulator and the rigid environment. The control problem is stated as the stable control of velocities and contacting forces of the end-point of the manipulator, and a solution approach is discussed.<
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