Computed torque control of redundant manipulators using general-purpose software in real-time

DOI10.1007/S11044-013-9377-4zbMath1305.70008OpenAlexW2026944984MaRDI QIDQ481832

Pierangelo Masarati

Publication date: 15 December 2014

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-013-9377-4

zbMATH Keywords

feedforward controlinverse kinematicsredundant manipulatorsinverse dynamicsredundant coordinate approach

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Trajectory-tracking control from a multibody system dynamics perspective ⋮ Robust tracking control of MBT autoloaders with oscillatory chassis and compliant actuators ⋮ Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems ⋮ Active isotropic compliance in redundant manipulators ⋮ Load parameter identification for parallel robot manipulator based on extended Kalman filter

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