摘要: An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and position of end-effector, both in presence frictional surface. The approach, using novel formulation dynamics model, based linear state feedback. A feedforward PI (proportional-integral) feedback strategy along with design procedure. Using method trajectory following problem solved closed-loop system shown be asymptotically stable. Numerical examples two-link robot moving are presented for illustration. >
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