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Motion estimation for environment-contact task with position controlled manipulator

In this paper, we show analysis of kinematics of environment-contacting task by position-controlled manipulator with free-joint structure at its wrist. Some friction forces at contact points and a force acted by a manipulator cannot be determined. Based on the minimum work principle, we have proposed motion estimation model with linear programming problem. With this motion estimation model, we also develop a method to make a motion plan of the manipulator to generate a desired object motion.