Abstract
Each of the manipulator joints usually has a separate drive. Drive forces, as well as torques acting in joints, are distributed through the manipulator links to the end-effector (gripper) on which the environment also exerts a force and torque. The relationship between input (drive) and output (acting on the end-effector) forces and torques constitutes the basis of a control system.
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Morecki, A., Knapczyk, J. (1999). Statics and Dynamics of Manipulators. In: Morecki, A., Knapczyk, J. (eds) Basics of Robotics. International Centre for Mechanical Sciences, vol 402. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2532-8_5
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DOI: https://doi.org/10.1007/978-3-7091-2532-8_5
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