Modeling and control of multi-body mechanical systems. I: A Riemannian geometry approach

zbMATH Open1219.93027MaRDI QIDQ3086727FDOQ3086727

Authors: Suguru Arimoto 

Publication date: 30 March 2011

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zbMATH Keywords

Lagrange stabilityMorse-Bott functionmulti-body mechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27)

Cited In (3)

• Pontryagin calculus in Riemannian geometry
• Modeling and IPC control of interactive mechanical systems. A coordinate-free approach
• Path planning and replanning for mobile robot navigation on 3D terrain: an approach based on geodesic

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