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

DOI10.1007/S00006-013-0380-XzbMath1390.93575OpenAlexW2001096248MaRDI 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 algebradual quaternionsDavies methodkinematic singularitiesmechanism mobilityoptimal torque profiles

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Functions of hypercomplex variables and generalized variables (30G35) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66)

Cites Work

• Robot perception and handling actions using the conformal geometric algebra framework
• Fuzzy bang-bang relay controller for satellite attitude control system
• The group reduction for bounded cosine functions on UMD spaces
• Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions

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