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In the previous work on the hard contact motion of a single manipulator, only the kinematic coupling effects were taken into account. In this paper the dynamic coupling effects are considered in the modeling and control of an Njoint, serial link manipulator turning a crank mechanism. By dynamically distributing the load, i.e., the crank, the generalized contact forces are decomposed into internal stress and motion components. A rigid body model is developed for the entire closed-chain system. It is shown here that a subset of the internal stress contact forces may be explicitly controlled while simultaneously and independently controlling the position of the system.

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