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The type of behaviour depends only on the chosen manipulator trajectories.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The RCID may be used as a force\u2010impedance controlled auxiliary device, coupled in series with a position\u2010controlled commercial industrial robot. The two manipulators combined behave as a single manipulator, having the impedance and force control performance of the RCID, as well as the workspace and trajectory tracking performance of the industrial manipulator. The industrial manipulator should perform free space motion trajectory tracking, the RCID being kept in a \u201chome\u201d position, preserving its small workspace for impedance and force control.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>A robust control strategy that enables good performance, while the robot executes tasks that involve interaction with the environment, is being proposed. Experimental results on a force\u2010impedance controlled six\u2010dof parallel mini\u2010manipulator are presented.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910710774395","type":"journal-article","created":{"date-parts":[[2007,8,18]],"date-time":"2007-08-18T07:04:36Z","timestamp":1187420676000},"page":"386-399","source":"Crossref","is-referenced-by-count":12,"title":["Acceleration\u2010based force\u2010impedance control of a six\u2010dof parallel manipulator"],"prefix":"10.1108","volume":"34","author":[{"given":"Antonio M.","family":"Lopes","sequence":"first","affiliation":[]},{"given":"Fernando G.","family":"Almeida","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022030920131583400_b1","unstructured":"Aertbeli\u00ebn, E. and Van Brussel, H. 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