Control of minimally constrained cobots

DOI10.1002/ROB.10042MaRDI QIDQ4785084zbMATH OpenOpenAlexFDO

Authors Antony J. Hodgson, Richard Emrich

Publication date 17 December 2002

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

Full work available at URL https://doi.org/10.1002/rob.10042

zbMATH Keywords

surgical roboticscomputer-oriented passive constraints

Mathematics Subject Classification ID

Medical applications (general) (92C50) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

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• Intelligent control of miniature holonomic vertical take-off and landing robot
• Modelling and experimental validation of a planar 2-dof cobot as a differential-algebraic equation system
• Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators

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