Computed torque control of an under-actuated service robot platform modeled by natural coordinates

DOI10.1016/j.cnsns.2010.04.060zbMath1221.70010OpenAlexW2035761387WikidataQ56424680 ScholiaQ56424680MaRDI QIDQ718527

László L. Kovács, Ambrus Zelei, Gabor Stepan

Publication date: 23 September 2011

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2010.04.060

zbMATH Keywords

algebraic equationsdifferentialunder-actuated systemscomputed torque controlcrane systems

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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Cites Work

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• Cargo Pendulation Reduction on Ship-Mounted Cranes Via Boom-Luff Angle Actuation
• Adaptive Computed Reference Computed Torque Control of Flexible Robots
• Costs study through a diffusion process of pensions funds held with an outside financing effort

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