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The upper\u2010level coordinator gathers all the necessary information to resolve the force distribution problem so as to generate all the desired contact forces With all the desired contact forces being specified, the dynamics of each chain are decoupled. Therefore, the lower\u2010level local control problem can be treated as a general open\u2010chain redundant manipulator problem. Furthermore, the Compact\u2010Dual LP method is applied to resolve the upper\u2010level coordination problem; while the Compact QP method associated with the computed torque control method is adopted to solve the redundant manipulator problem. To obtain proper simulation results, the simulated actual contact forces are formulated and the corresponding simulation problem of the closed\u2010chain robotic system is also completely solved in the article. Simulation results show that the two\u2010level hierarchical control scheme is an effective and efficient algorithm for resolving the large\u2010scale control problem of multiple\u2010chain robotic systems. \u00a9 1995 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620120203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:02:29Z","timestamp":1183744949000},"page":"119-133","source":"Crossref","is-referenced-by-count":13,"title":["Control and simulation for a closed\u2010chain dual redundant ' manipulator system"],"prefix":"10.1002","volume":"12","author":[{"given":"Fan\u2010Tien","family":"Cheng","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jou\u2010Jye","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Tsing\u2010hua","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen Fan\u2010Chu","family":"Kung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.101132"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"J. 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