Inverse dynamics control in terms of unnormalized quasi-velocities
From MaRDI portal
Publication:1763978
DOI10.1016/j.jfranklin.2004.08.004zbMath1083.93040MaRDI QIDQ1763978
Publication date: 22 February 2005
Published in: Journal of the Franklin Institute (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.jfranklin.2004.08.004
integrals; normal form; kinetic energy; nonholonomic systems; manipulator; decoupling; double pendulum; quasi-velocities; velocity tracking; curvilinear velocities; inverse control problem
93C85: Automated systems (robots, etc.) in control theory
93B10: Canonical structure
70Q05: Control of mechanical systems
93B50: Synthesis problems
70F25: Nonholonomic systems related to the dynamics of a system of particles
Cites Work
- Tracking for fully actuated mechanical systems: A geometric framework
- Theory of robot control
- Applications and prospect of the nonlinear decoupling method
- Modelling and control of robot manipulators.
- New class of control laws for robotic manipulators Part 1. Non–adaptive case
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