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geometric approach; manipulators; functional controllability

References:

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[2] Basile, G., Marro, G.: **On the perfect output controllability of linear dynamic systems**. Ricerche Automat. 2 (1971), 1-10.

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[5] Bicchi, A., Prattichizzo, D.: **A standard form for the dynamics of general manipulation systems**. In: International Conference on Robotics and Automation (ICRA), 1995.

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[12] Murray, R. M., Li, Z., Sastry, S. S.: **A Mathematical Introduction to Robotic Manipulation**. CRC Publisher, Boca Raton 1994. MR 1300410 | Zbl 0858.70001

[13] Prattichizzo, D.: **Structural Properties and Control of Robotics Manipulation**. Ph.D. Thesis, University of Pisa 1995.

[14] Prattichizzo, D., Bicchi, A.: **Specifying consistent control goals for kinematically defective manipulation systems**. In: ICRA, 1996.

[15] Prattichizzo, D., Bicchi, A.: **Dynamic analysis of mobility and graspability of general manipulation systems**. Trans. Robotic Automat. 14 (1998), 2, 251-218.

[16] Prattichizzo, D., Mercorelli, P.: **On some geometric control properties of active suspension systems**. Kybernetika 36 (2000), 5, 549-570. MR 1882794

[17] Salisbury, J. K.: **Whole-arm manipulation**. In: Proc. 4th International Symposium of Robotics Research, 1987.

[18] Siciliano, B.: **Parallel Force/Position Control of Robotic Manipulatio**. Springer-Verlag, London 1996.

[19] Wonham, W. M.: **Linear Multivariable Control: A Geometric Approach**. Springer-Verlag, New York 1979. MR 0569358 | Zbl 0609.93001

[20] Yamamoto, Y., Yun, X.: **Effect of the dynamic interaction on coordinated control of mobile manipulators**. IEEE Trans. Robotics Automat. 12 (1996), 5, 816-824. DOI 10.1109/70.538986