A geometrical setting for the Newtonian mechanics of robots

DOI10.1016/0016-0032(86)90051-7zbMath0615.70009WikidataQ127237566 ScholiaQ127237566MaRDI QIDQ1820608

Reuven Segev, Amit Ailon

Publication date: 1986

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0016-0032(86)90051-7

zbMATH Keywords

configuration space; kinetic energy; control parameters; differentiable manifold; tangent bundles; parallel translation; generalized momentum; mechanical manipulators; geometric invariant formulation

Mathematics Subject Classification ID

93B05: Controllability

70Q05: Control of mechanical systems

70B15: Kinematics of mechanisms and robots

53B50: Applications of local differential geometry to the sciences

70G45: Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics

93C15: Control/observation systems governed by ordinary differential equations

Related Items

Dynamics of Nonholonomic Systems, Dynamics of Nonholonomic Systems, Investigation of Painlevé's paradox and dynamic jamming during mechanism sliding motion

Cites Work

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