Geometric Motion Control for a Kinematically Redundant Robotic Chain: Application to a Holonomic Mobile Manipulator

DOI10.1002/ROB.10084MaRDI QIDQ4452414zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Claudio Altafini

Publication date 12 February 2004

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10084

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20)

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• Motion control for kinematically redundant manipulator robots
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Cited in

(2)

• Generation of natural motions for redundant multi-joint systems: A differential-geometric approach based upon the principle of least actions
• Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric

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