Recursive modeling and control of multi-link manipulators with vacuum grippers

DOI10.1016/j.matcom.2008.02.003zbMath1235.70023OpenAlexW1987133432MaRDI QIDQ1010000

S. Fronz, Rainer Callies

Publication date: 3 April 2009

Published in: Mathematics and Computers in Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.matcom.2008.02.003

zbMATH Keywords

maximum principleadjoint differential equations

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• New necessary conditions of optimality for control problems with state- variable inequality constraints
• Linearization of manipulator dynamics using spatial operators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
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