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RISEffect of Inherent Damping of the Series Elastic Element on Rendering Performance and Passivity of Interaction Control
Publisher: The American Society of Mechanical Engineers (ASME)
Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we provide a general framework to determine inner and outer approximations to the singularity-free workspace of fully actuated robotic manipulators, subject to Type-I and Type-II singularities. This framework ...