The method of equivalence in robotics

MaRDI QIDQ4234002zbMATH OpenFDO

Authors Krzysztof Tchoń

Publication date 15 March 1999

zbMATH Keywords

feedback linearizationkinematicsmobile platformnormal formrobotic manipulatorssingularitiestracking

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Transformations (93B17) Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85)

Review text

In this survey, kinematics and dynamics of robotic manipulators (with possibly velocity constraints and flexible joints) are described. For tracking purposes, transformations into normal form of the kinematics mapping (the output map) which allows to solve the inverse kinematics problem (taking account of possible singularities) and of the dynamics which leads to feedback linearizable systems are shown to be useful. The author explains also how to linearize with dynamic output feedback a model of a controlled mobile platform. Although there are several typographical mistakes, this publication is well written. For the entire collection see [Zbl 0898.00018].

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(4)

• Evolutionary equation of the composition of the equipment of an automated robot factory
• Efficient geometric linearization of moving-base rigid robot dynamics
• Contouring control of robot manipulators based on equivalent errors
• scientific article; zbMATH DE number 1304583 (Why is no real title available?)

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