Joint‐space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints

DOI10.1002/RNC.4590050404zbMATH Open0869.93032OpenAlexW2077316207MaRDI QIDQ4847419FDOQ4847419

Authors: Suguru Arimoto 

Publication date: 6 August 1997

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.4590050404

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zbMATH Keywords

geometric constraintsjoint-space orthogonalizationhybrid control for robot manipulators

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Cited In (2)

• Predefined‐time control of cooperative manipulators
• Generation of natural motions for redundant multi-joint systems: A differential-geometric approach based upon the principle of least actions

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