Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

DOI10.1002/rob.10113zbMath1048.70006OpenAlexW2064511450MaRDI QIDQ3044578

Marco H. Terra, Marcel Bergerman, Benedito C. O. MacIel

Publication date: 6 August 2004

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10113

zbMATH Keywords

coupling indexpost-failure control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Unnamed Item
• Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy - a survey and some new results
• Motion and force control of multiple robotic manipulators

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