I am referring to pre-computed torque control techniques that are based on the Task Space dynamic model.
Maybe by using pseudo-inverse for the Jacobian and the task space inertia matrix ?
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This is a somewhat awkwardly worded question, hopefully I'm getting at the essence of what you're trying to ask here.
In short, no, you can't because with 5 DOF, you won't be able to apply force/move the end effector of the robot in any arbitrary combination of directions.
However, it might be okay that you only have 5 DOF if the motions that you need to do also only have 5 DOF. (eg. only motions in x, y, z and rotation in the x and z dimensions)