... is found through solving a quadratic programming problem, in which the equality and inequality constraints are derived to be equivalent to the originally specified ones. Finally, a case study is presented to demonstrate how the control technique can be applied to multi-arms manipulation of an object...

...Lianzhen Luo; Meyer Nahon Simulations are often used to evaluate space manipulator tasks that involve contact with the environment, due to the difficulty of performing realistic earth-based experiments. An important aspect of these simulations is the contact model used to determine the interbody...