Experimental identification of kinematic constraints
نویسندگان
چکیده
‘I’/& paper proposes technique for automaticall~ identifying and modeling the kinematic wwtminta of manipulated objects. The existence of wn.druints is established by examination of the forces and torques normal and tangential to the object’s motion. Constraints are modeled as joints tuith wnfigumtion and history dependent forca. To illustmte these concepts, seveml experimental examples are presented.
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