On the Modeling of the Contact Forces of Constrained Robots

In this paper, the modeling of the contact forces between the end effector of a robot and an external body is considered; the descriptor model is examined in depth. It is shown that the descriptor model can handle the same tasks coverd by the classical approaches if the constraints are carefully and practically defined. The task oriented descriptor modeling method is presented, this method introduces the task space as the starting point in finding the kinematic constraints which cover a large class of tasks including machining and assembling. The constraint equations can be then transformed to the desired space or frame; while it is assured that the rank condition can be always easily checked.

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