scientific article; zbMATH DE number 821258

zbMATH Open0858.70001MaRDI QIDQ4857368FDOQ4857368

Authors: Richard M. Murray, Zexiang Li, S. Shankar Sastry

Publication date: 28 November 1995

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Kinematics of mechanisms and robots (70B15) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited In (only showing first 100 items - show all)

Formal power series, operator calculus, and duality on Lie algebras
Pose estimation in conformal geometric algebra. I: The stratification of mathematical spaces
Cartesian control of robots without dynamic model and observer design
Differential Relations and Recurrence Formulas for Representations of Lie Groups
Finite horizon robustness analysis of LTV systems using integral quadratic constraints
Orientation control on SO(3) with piecewise sinusoids
Stable Gaussian process based tracking control of Euler-Lagrange systems
Modeling viscoelastic behavior in flexible multibody systems
A topologist's view of kinematic maps and manipulation complexity
Stochastic stabilization of rigid body motion of a spacecraft on SE(3)
Formal analysis of the kinematic Jacobian in screw theory
Generating hyperbolical rotation matrix for a given hyperboloid
Pose synchronization of multiple rigid bodies under average dwell time condition
Vector field based sliding mode control of curved path following for miniature unmanned aerial vehicles in winds
Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration
On a computationally simple form of the generalized Campbell--Baker-Hausdorff-Dynkin formula
Inverse kinematics of a 5-DOF hybrid manipulator
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Reduced equations for nonholonomic mechanical systems with dissipative forces
Dynamic model based nonlinear tracking control of a planar parallel manipulator
On the estimation of continuous mappings from cradle-style to 6-axis machines for face-milled hypoid gear generation
Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
Screw and Lie group theory in multibody dynamics
Robot control for robust stability with finite reachability time in the whole
Attainability sets in cascade control systems
Optimization Problems Associated with Manifold-Valued Curves with Applications in Computer Vision
Path defined directed graph vector (\textit{Pgraph}) method for multibody dynamics
Dynamic output feedback based active decentralized fault-tolerant control for reconfigurable manipulator with concurrent failures
Geometric collocation method on SO(3) with application to optimal attitude control of a 3D rotating rigid body
Boundary cooperative control by flexible Timoshenko arms
Finite horizon maximum likelihood estimation for integrated navigation with RF beacon measurements
Generic mobility of rigid body mechanisms
Mathematics in caging of robotics
Intrinsic reduced attitude formation with ring inter-agent graph
Formal kinematic analysis of a general 6R manipulator using the screw theory
The physical foundations of geometric mechanics
An operational calculus for the Euclidean motion group with applications in robotics and polymer science
A novel optimal design of measurement configurations in robot calibration
CGA-based robotic snake control
Rotations on a lightcone in Minkowski 3-space
An intrinsic approach to formation control of regular polyhedra for reduced attitudes
Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations
Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme
Onset of shear band localization by a local generalized eigenvalue analysis
Compliant grasping with passive forces
Dynamic advantages of singular configurations in moving heavy object by a two-link mechanism
A rigorous framework for interactive robot control
Grasping force based manipulation for multifingered hand-arm robot using neural networks
A novel kinematics analysis method using quaternion interpolation -- a case study in frog jumping
Decentralized cooperative tracking subject to motion constraints
Dual PD control regulation with nonlinear compensation for a ball and plate system
Key-skeleton-pattern mining on 3D skeletons represented by Lie group for action recognition
Embedded control system for a four‐rotor UAV
Geometric control of the trident snake robot based on CGA
Distributed attitude synchronization control of multi-agent systems with switching topologies
Geometric integrators for higher-order variational systems and their application to optimal control
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
Predicting articulated human motion from spatial processes
Symbolic computation for mobile robot path planning
Can we find Willmore-like method for the tangential intersection problems?
Controlled Lagrangian systems with gyroscopic forcing and dissipation
Consistent definition of partial derivatives of matrix functions in dynamics of mechanical systems
A unified approach to type synthesis of both rigid and flexure parallel mechanisms
Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
Quasi-coordinates based dynamics modeling and control design for nonholonomic systems
On generalized rotation matrices
A twist exponential approach to gear generation with general spatial motions
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
Geometric approach to Pontryagin's maximum principle
An alternative approach to elliptical motion
On rotation about lightlike axis in three-dimensional Minkowski space
UGAS of skew-symmetric time-varying systems: application to stabilization of chained form systems
Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
Kinematics constrained five-axis tool path planning for high material removal rate
Symmetry and reduction for coordinated rigid bodies
Energy-optimal control of unconstrained planar RR robot manipulators
Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel
Switching mode generation and optimal estimation with application to skid-steering
A nonlinear position and attitude observer on SE(3) using landmark measurements
Velocity field control of robot manipulators by using only position measurements
New integrability conditions for differential constraints
Embeddings of the Euclidean algebra \(\mathfrak{e}(3)\) into \(\mathfrak{sl}(4,\mathbb{C})\) and restrictions of irreducible representations of \(\mathfrak{sl}(4,\mathbb{C})\)
On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
A short note on point singularities for robot manipulators
Passivity-based visual motion observer with panoramic camera for pose control
On the comparisons of unit dual quaternion and homogeneous transformation matrix
Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates
Exponential convergence of a nonlinear attitude estimator
Book review of: T. Hatanaka et al., Passivity-based control and estimation in networked robotics
An iterative approach for cone complementarity problems for nonsmooth dynamics
Rigid body mechanics in Galilean spacetimes
Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators
Mechanical integrators derived from a discrete variational principle
Nonholonomic mechanical systems with symmetry
Dynamics-based motion planning for a pendulum-actuated spherical rolling robot
Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
Numerical method for the time-optimal response problem with phase constraints for the simplest model of a one-legged jumping robot
Control of 3-link robotic snake based on conformal geometric algebra
Optimal control of the thrusted skate
Geometric pseudospectral method on \(SE(3)\) for rigid-body dynamics with application to aircraft

Uses Software

Mathematica

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