This paper describes the modelling and motion specification of compliant motion tasks with two or three contact points. These tasks cannot be done with Mason's (1981) classical "taskframe" (TF) or "compliance frame" approach. Hence, a more flexible and versatile motion constraint model is introduced, that maintains most of the intuitiveness of the TF approach.
['Hans Bruyninckx', 'J. De Schutter']
Modelling and specification of compliant motions with two and three contact points