scientific article; zbMATH DE number 1301657

MaRDI QIDQ4246866zbMATH OpenFDO

Authors Mark W. Spong

Publication date 5 December 2000

zbMATH Keywords

approximate feedback linearizationcanonical transformationcurvature tensorHamiltonian mechanical control systemsmanipulation robots

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(4)

• Curvature properties of 6-parametric robot manipulators
• Feedback linearization of robot manipulators and riemannian curvature
• The adjoint trajectory of robot end effector using the curvature theory of ruled surface
• On asymptotic motions of robot-manipulator in homogeneous space.

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