ten Dam, A.A. (author), Couwenberg, M.J.H. (author) During operations with a manipulator arm situations will occur where the manipulator end-effector is, or comes, in contact with its environment. In case of the HErmes Robot Arm HERA, contact with the environment may well be planned. For instance, operations like insertion and extraction of a tool from a tool rack, grappling of an Orbital...
report 1991