Modeling and Ipc Control of Interactive Mechanical Systems - A Coordinate-Free Approach

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Modeling and Ipc Control of Interactive Mechanical Systems - A Coordinate-Free Approach Description

1. Rigid Bodies and Motion.- 2. Kinematics of Rigid Mechanisms.- 3. Dynamics of Rigid Mechanisms.- 4. Intrinsically Passive Control.- 5. A Novel Impedance Grasping Strategy.- 6. IPC in Telemanipulation.- A. Mathematical Background.- B. Basics of Bond Graphs.

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