Optimal trajectory tracking of underwater vehicle-manipulator systems through the Clifford algebras and of the Davies method

DOI10.1007/s00006-013-0380-xzbMath1390.93575MaRDI QIDQ351490

Mohammad Hasan, M. Dambrine

Publication date: 5 July 2013

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-013-0380-x

zbMATH Keywords

Clifford algebra; dual quaternions; Davies method; kinematic singularities; mechanism mobility; optimal torque profiles

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

30G35: Functions of hypercomplex variables and generalized variables

70E60: Robot dynamics and control of rigid bodies

15A66: Clifford algebras, spinors