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Cooperative Robots
Abstract
The interest in developing cooperative systems has increased due to the advantages they offer. Such systems can perform tasks that a single robot would be impossible to achieve. In this chapter, a summary of the cooperative robots's study, a classification of the type of grips, and path planning is presented. In addition, the properties and characteristics of the dynamic model, and the effects of torque and friction in contact tasks are shown. General considerations that should be made to analyze a cooperative system are introduced, and finally, the principle of orthogonalization, which separates the position and the force using a projection matrix which allows us to develop a control-observer scheme, is presented.
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