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Journal of Robotics
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Journal of Robotics
/
2009
/
Article
/
Fig 4
/
Research Article
A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints
Figure 4
A hand-writing robot with four DOFs whose endpoint
P
(
=
(
x
,
y
)
)
is constrained on a plane
z
=
ξ
.