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Keywords: Actuation Redundancy
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Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2002, 124(1): 67–75.
Published Online: June 4, 2001
... 13 , in this paper, we propose to employ the actuation redundancy to control the internal forces in order to stabilize the system zero dynamics. The output of the system is defined as the tip trajectory without modification. A stable inversion can be performed to linearize the input-output map...
