
Hardware devices of force feedback interfaces 147
in robotics. We distinguish between open kinematic chain robots (serial architecture)
and closed chain robots (parallel architecture, refer to examples below).
The application work space is the space where the X configuration (position and/or
orientation) of the end effector (here, the robot gripper), its speed V, acceleration a and
forces F exerted on it are represented. The articular space is the space used to represent
the situation of all the bodies of the robot, i.e. the articular variables (generally, only
the motorised articulations are taken into account): q
art
, speeds
˙
q
art
, accelerations
¨