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

DOI10.1002/ROB.10084zbMATH Open1047.70024DBLPjournals/jfr/Altafini03OpenAlexW2094695085WikidataQ57084384 ScholiaQ57084384MaRDI QIDQ4452414FDOQ4452414

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

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Mathematics Subject Classification ID

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

Cited In (2)

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

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