scientific article; zbMATH DE number 821258

Richard M. Murray, Zexiang Li, Shankar S. Sastry

Publication date: 28 November 1995

Title: zbMATH Open Web Interface contents unavailable due to conflicting licenses.

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02)

Related Items (only showing first 100 items - show all)

Can we find Willmore-like method for the tangential intersection problems? ⋮ Formalization of camera pose estimation algorithm based on Rodrigues formula ⋮ On rotation about lightlike axis in three-dimensional Minkowski space ⋮ An alternative approach to elliptical motion ⋮ Formal analysis of the kinematic Jacobian in screw theory ⋮ Exponential convergence of a nonlinear attitude estimator ⋮ Book review of: T. Hatanaka et al., Passivity-based control and estimation in networked robotics ⋮ Energy-optimal control of unconstrained planar RR robot manipulators ⋮ Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems ⋮ Exponentials of skew-symmetric matrices and logarithms of orthogonal matrices ⋮ Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation ⋮ Control of 3-link robotic snake based on conformal geometric algebra ⋮ Importance and effectiveness of representing the shapes of Cosserat rods and framed curves as paths in the special Euclidean algebra ⋮ Application of Newton's law of motion to constrained mechanical systems possessing configuration manifolds with time-dependent geometric properties ⋮ A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates ⋮ 3-D structure from visual motion: Modeling, representation and observability ⋮ On application of Newton's law to mechanical systems with motion constraints ⋮ On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors ⋮ Dynamic output feedback based active decentralized fault-tolerant control for reconfigurable manipulator with concurrent failures ⋮ Formal kinematic analysis of a general 6R manipulator using the screw theory ⋮ Geometric collocation method on SO(3) with application to optimal attitude control of a 3D rotating rigid body ⋮ Formal power series, operator calculus, and duality on Lie algebras ⋮ On Cartesian stiffness matrices in rigid body dynamics: an energetic perspective ⋮ Intrinsic reduced attitude formation with ring inter-agent graph ⋮ Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces ⋮ System identification for a miniature helicopter at hover using fuzzy models ⋮ Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking ⋮ Predicting articulated human motion from spatial processes ⋮ Method for computing exterior and interior approximations to the reachability sets of bilinear differential systems ⋮ Symmetries of the rolling model ⋮ A unified approach to type synthesis of both rigid and flexure parallel mechanisms ⋮ Whittaker modules and quasi-Whittaker modules for the Euclidean Lie algebra \(\mathfrak{e}(3)\) ⋮ Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom ⋮ Rotations on a lightcone in Minkowski 3-space ⋮ Quasi-coordinates based dynamics modeling and control design for nonholonomic systems ⋮ On generalized rotation matrices ⋮ Switching mode generation and optimal estimation with application to skid-steering ⋮ Kinematics constrained five-axis tool path planning for high material removal rate ⋮ Structure-preserving model reduction for mechanical systems ⋮ A generic force-closure analysis algorithm for cable-driven parallel manipulators ⋮ Screw and Lie group theory in multibody dynamics ⋮ Dynamic advantages of singular configurations in moving heavy object by a two-link mechanism ⋮ A short note on point singularities for robot manipulators ⋮ Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations ⋮ Passivity-based visual motion observer with panoramic camera for pose control ⋮ A novel kinematics analysis method using quaternion interpolation -- a case study in frog jumping ⋮ Decentralized cooperative tracking subject to motion constraints ⋮ Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators ⋮ Dual PD control regulation with nonlinear compensation for a ball and plate system ⋮ Distributed attitude synchronization control of multi-agent systems with switching topologies ⋮ A novel optimal design of measurement configurations in robot calibration ⋮ Key-skeleton-pattern mining on 3D skeletons represented by Lie group for action recognition ⋮ Numerical method for the time-optimal response problem with phase constraints for the simplest model of a one-legged jumping robot ⋮ Geometric pseudospectral method on \(SE(3)\) for rigid-body dynamics with application to aircraft ⋮ Design of optimal hybrid position/force controller for a robot manipulator using neural networks ⋮ Onset of shear band localization by a local generalized eigenvalue analysis ⋮ Investigation on Kane dynamic equations based on screw theory for open-chain manipulators ⋮ Orientation control on SO(3) with piecewise sinusoids ⋮ Finite horizon robustness analysis of LTV systems using integral quadratic constraints ⋮ A set of ordinary differential equations of motion for constrained mechanical systems ⋮ Motion optimization using Gaussian process dynamical models ⋮ Kinematic analysis of multibody systems ⋮ A classification of configuration spaces of planar robot arms for a continuous inverse kinematics problem ⋮ Global stability of a class of futile cycles ⋮ Involutive flows and discretization errors for nonlinear driftless control systems ⋮ Conservation and decay laws in distributed coordination control systems ⋮ Intrinsic tetrahedron formation of reduced attitude ⋮ Geometric integrators for higher-order variational systems and their application to optimal control ⋮ Output-feedback control for stabilization on \(\mathrm{SE}(3)\) ⋮ Geometric methods and formulations in computational multibody system dynamics ⋮ Stabilizability and motion tracking conditions for mechanical nonholonomic control systems ⋮ Strapdown inertial navigation system algorithms based on geometric algebra ⋮ A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry ⋮ Hybrid position/force control of a flexible parallel manipulator ⋮ Repeatable approximation of the Jacobian pseudo-inverse ⋮ An iterative approach for cone complementarity problems for nonsmooth dynamics ⋮ A nonlinear position and attitude observer on SE(3) using landmark measurements ⋮ Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration ⋮ Neural network robust \(H_\infty\) tracking control strategy for robot manipulators ⋮ Dynamic model based nonlinear tracking control of a planar parallel manipulator ⋮ Dynamics modeling of nonholonomic mechanical systems: Theory and applications ⋮ Efficient distance computation in configuration space ⋮ The mechanism theory and application of deployable structures based on SLE ⋮ A twist exponential approach to gear generation with general spatial motions ⋮ Geometrically exact beam finite element formulated on the special Euclidean group \(SE(3)\) ⋮ On the comparisons of unit dual quaternion and homogeneous transformation matrix ⋮ A Hamiltonian approach to fault isolation in a planar vertical take-off and landing aircraft model ⋮ Algebraic synthesis of time-optimal unitaries in \(\mathrm{SU}(2)\) with alternating controls ⋮ Optimal control on Lie groups with applications to attitude control ⋮ On a computationally simple form of the generalized Campbell--Baker-Hausdorff-Dynkin formula ⋮ Exponentially convergent control laws for nonholonomic systems in power form ⋮ The geometric structure of unit dual quaternion with application in kinematic control ⋮ Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace ⋮ Generic mobility of rigid body mechanisms ⋮ Geometric approach to Pontryagin's maximum principle ⋮ Non-jamming conditions in multi-contact rigid-body dynamics ⋮ Reduced equations for nonholonomic mechanical systems with dissipative forces ⋮ A general framework for geometry design of indexing CAM mechanism ⋮ Finite-time optimal control of polynomial systems using successive suboptimal approximations ⋮ Dubin's problem on surfaces. I: Nonnegative curvature

Uses Software

Unnamed Item

This page was built for publication: