id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
fcis-30629	Wang, Guogang; Sun, Qilong	Constrained Manipulator Force Position Hybrid Control Based on Fuzzy Neural Network	2025	6	.pdf	application/pdf	3976	134	64	In the formula, 1 1 1 ( ) Ψ( ) 1 L q q q          Therefore, the dynamic equation of a constrained two- degree-of-freedom manipulator is: T 1 1 1 1 1 1 1 1 1 1 1( ) ( , ) ( ) ( ) ( )M q q C q q q G q f q cos - 2 π q q q π q q q q π q   (27) 1q 2q 2m 1m 1l 1l 2x 1x Fig 1.	cache/fcis-30629.pdf	txt/fcis-30629.txt