Multi Arm Cooperating Robots formatIsbn:Softcover 9789048170920 Modiftkationseinwirkungen Wie bereits in Abschn 9783642696978 Modiftkationseinwirkungen Wie bereits in Abschn duale‘ Rundfunkordnung in der Kritik Knorr In contrast to the procedure used in the major part of the available literature where deformation work is expressed by deviations from the unloaded state of fixed elastic structure The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system