Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms

MaRDI QIDQ3568060zbMATH OpenFDO

Authors Paolo Mercorelli

Publication date 17 June 2010

zbMATH Keywords

geometric approachmatricesdecouplinginvariant subspacesmanipulatorsforce/motion control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robust stability (93D09) Geometric invariant theory (14L24) Geometric methods (93B27) Geometric applications of topological (K)-theory (19L64)

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• Geometric stiffening in multibody dynamics formulations
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• Geometric methods and formulations in computational multibody system dynamics
• Geometrically exact shells for multibody dynamics
• Geometric methods in the modeling of robot mechanisms
• Robust decoupling through algebraic output feedback in manipulation systems
• Mathematical principles for the design of isostatic mount systems for dynamic structures

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