Task-level approaches for the control of constrained multibody systems
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Publication:871704
DOI10.1007/S11044-006-9017-3zbMATH Open1126.70012OpenAlexW2052538351MaRDI QIDQ871704FDOQ871704
Scott Delp, Oussama Khatib, Vincent De Sapio
Publication date: 20 March 2007
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-006-9017-3
Recommendations
Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05) Holonomic systems related to the dynamics of a system of particles (70F20)
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Cited In (11)
- Controllable velocity projection for constraint stabilization in multibody dynamics
- Least action principles and their application to constrained and task-level problems in robotics and biomechanics
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- Control of constraint forces and trajectories in a rich sensory and actuation environment
- Multijoint control strategies transfer between tasks
- Equivalent control of constrained multibody systems
- Prioritized multi-task compliance control of redundant manipulators
- Contouring control for multi-axis motion systems with holonomic constraints: theory and application to a parallel system
- Singularly perturbed feedback linearization with linear attitude deviation dynamics realization
- Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators
- Adaptive realization of desired constraint stabilization dynamics in the control of multibody systems
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