On using generalized velocity components for manipulator dynamics and control

DOI10.1016/J.MECHRESCOM.2005.09.005MaRDI QIDQ986850zbMATH OpenOpenAlexFDO

Authors Przemysław Herman

Publication date 12 August 2010

Published in Mechanics Research Communications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechrescom.2005.09.005

zbMATH Keywords

stability analysisrobot controlrobotic manipulatorsdynamic propertiesmanipulator inertia matrices

Mathematics Subject Classification ID

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

Recommendations

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Cited in

(7)

• A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators
• Inverse dynamics control in terms of unnormalized quasi-velocities
• Manipulator motion control in operational space using joint velocity inner loops
• Dynamical couplings reduction for rigid manipulators using generalized velocity components
• Velocity control of robot manipulators: Analysis and experiments
• Modified set-point controller for underwater vehicles
• A quasi-velocity-based nonlinear controller for rigid manipulators

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