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. 2018 Jun 11;46(10):1663–1675. doi: 10.1007/s10439-018-2066-y

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© Biomedical Engineering Society 2018

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Characterization of the force-based global positioning and the null-space control. (a) Example 1-dimensional trajectory generated by a force exerted on a single axis of the handle, (b) joint values during an example null-space motion, (c) distance of the end-effector from its starting position during the null-space motion generated in (b), (d) distance of the ‘elbow’ of the KUKA robot (base of joint 5) from its starting position during the null-space motion generated in (b), (e)– (f) example of the motion generated by the null-space control, moving the ‘elbow’ of the robot through forces applied on the handle while keeping the end-effector stationary.