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scientific article; zbMATH DE number 1303372
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scientific article; zbMATH DE number 1303372 |
Statements
19 October 2000
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first-order kinematic model of rigid-body contact
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robot arms
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Raibert-Craig model
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projection matrices
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force/motion control
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invariant formulation
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duality between motion and force vectors
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face-vertex contacts
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