scientific article; zbMATH DE number 821258
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Publication:4857368
matrix Lie groupstheory of screwsRitz basis functionsrigid body motionredundant manipulatorspiecewise constant controlsparallel mechanismsopen-chain robot manipulatornonlinear control theorynonholonomic systemsnonholonomic motion planningmultifingered robot handasymptotic trackingmatrix exponentialmanipulator JacobianLie bracketLie algebrasLagrange's equationsinverse kinematics problemhomogeneous coordinatesgraspingdifferential geometrycontrol laws
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