The paper clarifies null-space wrench components for redundant parallel manipulators by adapting grasp concepts, resolves ambiguities in interaction forces and internal loads, and provides explicit methods to synthesize equilibrating and manipulating joint torques.
The virtual linkage: A model for internal forces in multi-grasp manipulation
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Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
The paper clarifies null-space wrench components for redundant parallel manipulators by adapting grasp concepts, resolves ambiguities in interaction forces and internal loads, and provides explicit methods to synthesize equilibrating and manipulating joint torques.