The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces

@article{Duffy1990TheFO,
  title={The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces},
  author={Joseph Duffy},
  journal={J. Field Robotics},
  year={1990},
  volume={7},
  pages={139-144}
}
This editorial is intended to be a plea to researchers in the field of robotic systems to reconsider the theory of so-called “hybrid control” for the simultaneous control of force and motion. The theory I refer to is one that has been used in quite a large number of articles that have been presented in both national and international conferences on robotics and in the technical journals of learned societies. In these articles the aims are to model constrained-motion tasks, grasping operations… CONTINUE READING
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