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?)
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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)
- 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
- Design of optimal hybrid position/force controller for a robot manipulator using neural networks
- Investigation on Kane dynamic equations based on screw theory for open-chain manipulators
- Global stability of a class of futile cycles
- Explicit Wei-Norman formulae for matrix Lie groups via Putzer's method
- Finite-time optimal control of polynomial systems using successive suboptimal approximations
- Title not available (Why is that?)
- Kinematic analysis of multibody systems
- Mathematical modelling of poor nutrition in the human life cycle
- Midpoint rule for variational integrators on Lie groups
- Conservation and decay laws in distributed coordination control systems
- Involutive flows and discretization errors for nonlinear driftless control systems
- Intrinsic tetrahedron formation of reduced attitude
- Geometric phases and robotic locomotion
- 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
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