The method of equivalence in robotics (Q4234002)
From MaRDI portal
!
This is the item page for this Wikibase entity, intended for internal use and editing purposes. Please use the normal view instead:
scientific article; zbMATH DE number 1262891
| Language | Label | Description | Also known as |
|---|---|---|---|
| default for all languages | No label defined |
||
| English | The method of equivalence in robotics |
scientific article; zbMATH DE number 1262891 |
Statements
15 March 1999
0 references
feedback linearization
0 references
robotic manipulators
0 references
tracking
0 references
normal form
0 references
kinematics
0 references
singularities
0 references
mobile platform
0 references
0.7558639049530029
0 references
The method of equivalence in robotics (English)
0 references
In this survey, kinematics and dynamics of robotic manipulators (with possibly velocity constraints and flexible joints) are described. For tracking purposes, transformations into normal form of the kinematics mapping (the output map) which allows to solve the inverse kinematics problem (taking account of possible singularities) and of the dynamics which leads to feedback linearizable systems are shown to be useful. The author explains also how to linearize with dynamic output feedback a model of a controlled mobile platform. Although there are several typographical mistakes, this publication is well written. For the entire collection see [Zbl 0898.00018].
0 references
