On the uniform boundedness of the inertia matrix of serial robot manipulators

DOI10.1002/(SICI)1097-4563(199812)15:1%3C17::AID-ROB2%3E3.0.CO;2-VMaRDI QIDQ4393203zbMATHOpenAlexFDO

Authors Fathi Ghorbel, B. Srinivasan, Mark W. Spong

Publication date 16 December 1998

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199812)15:1%3C17::aid-rob2%3E3.0.co;2-v

zbMATH Keywords

minimum and maximum eigenvaluesmanipulators with nontrivial joint configurations

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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