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

DOI10.1002/RNC.4590050404MaRDI QIDQ4847419zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

geometric constraintshybrid control for robot manipulatorsjoint-space orthogonalization

Mathematics Subject Classification ID

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

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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
• Predefined‐time control of cooperative manipulators

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