scientific article; zbMATH DE number 821258
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Publication:4857368
zbMATH Open0858.70001MaRDI QIDQ4857368FDOQ4857368
Authors: Richard M. Murray, Zexiang Li, S. Shankar Sastry 
Publication date: 28 November 1995
Title of this publication is not available (Why is that?)
Recommendations
nonholonomic systemsdifferential geometrygraspingmatrix exponentialLie algebrasredundant manipulatorsLie bracketasymptotic trackingnonlinear control theoryhomogeneous coordinatesrigid body motioncontrol lawsmatrix Lie groupsnonholonomic motion planningparallel mechanismsLagrange's equationspiecewise constant controlsmanipulator Jacobiantheory of screwsinverse kinematics problemmultifingered robot handopen-chain robot manipulatorRitz basis functions
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
- Title not available (Why is that?)
- 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
- Stabilizability and motion tracking conditions for mechanical nonholonomic control systems
- Formalization of camera pose estimation algorithm based on Rodrigues formula
- A geometric optimization method for the trajectory planning of flexible manipulators
- Geometric methods and formulations in computational multibody system dynamics
- Strapdown inertial navigation system algorithms based on geometric algebra
- Coordinate‐free kinematic analysis of overconstrained mechanisms with mobility one
- Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces
- Conformational analysis of stiff chiral polymers with end-constraints
- Trajectory design for mechanical control systems: from geometry to algorithms
- A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
- Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design
- Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation
- Inverse kinematics in robotics using neural networks
- Repeatable approximation of the Jacobian pseudo-inverse
- Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric
- Exponentials of skew-symmetric matrices and logarithms of orthogonal matrices
- Hybrid position/force control of a flexible parallel manipulator
- An alternative proof of Euler's rotation theorem
- Numerical inverse kinematics for modular reconfigurable robots
- Importance and effectiveness of representing the shapes of Cosserat rods and framed curves as paths in the special Euclidean algebra
- Quantization of the rolling-body problem with applications to motion planning
- The mechanism theory and application of deployable structures based on SLE
- Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace
- Modular and recursive kinematics and dynamics for parallel manipulators
- Model-based control strategies for systems with constraints of the program type
- 3-D structure from visual motion: Modeling, representation and observability
- Asymptotic stabilization of the hanging equilibrium manifold of the 3D pendulum
- A general framework for geometry design of indexing CAM mechanism
- On Cartesian stiffness matrices in rigid body dynamics: an energetic perspective
- Pose estimation of 3D free-form contours
- Fundamentals of mechanics of robotic manipulation
- An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators
- System identification for a miniature helicopter at hover using fuzzy models
- A Hamiltonian approach to fault isolation in a planar vertical take-off and landing aircraft model
- The geometric structure of unit dual quaternion with application in kinematic control
- Non-jamming conditions in multi-contact rigid-body dynamics
- Dynamic modeling of parallel manipulators based on Lagrange-d'Alembert formulation and Jacobian/Hessian matrices
- Method for computing exterior and interior approximations to the reachability sets of bilinear differential systems
- Whittaker modules and quasi-Whittaker modules for the Euclidean Lie algebra \(\mathfrak{e}(3)\)
- Neural network robust \(H_\infty\) tracking control strategy for robot manipulators
- Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
- A novel motion-reconstruction method for inertial sensors with constraints
- Efficient distance computation in configuration space
- A generic force-closure analysis algorithm for cable-driven parallel manipulators
- Exponential stability for a class of fractional order dynamic systems
- Optimal control problems on parallelizable Riemannian manifolds: theory and applications
- Modular chemical geometry and symbolic calculation
- Motion optimization using Gaussian process dynamical models
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