scientific article; zbMATH DE number 821258
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Publication:4857368
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
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