Control and simulation for a closed‐chain dual redundant ' manipulator system

DOI10.1002/ROB.4620120203MaRDI QIDQ4698198zbMATH OpenOpenAlexFDO

Authors Fan-Tien Cheng, Jou-Jye Lee, Tsing-Hua Chen, Fan-Chu Kung

Publication date 14 May 1995

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

Full work available at URL https://doi.org/10.1002/rob.4620120203

zbMATH Keywords

frictionforce distributionmaximum joint torque

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• scientific article; zbMATH DE number 4055449 (Why is no real title available?)
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane

Cited in

(3)

• Computational modeling and simulation of closed chain arm-robot multibody dynamic systems in OpenSim
• Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics
• Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds

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