Singularity avoidance in robotic manipulators: A differential form approach

DOI10.1016/S0167-6911(97)00011-XzbMath0901.93044MaRDI QIDQ1391522

Krzysztof Tchoń

Publication date: 22 July 1998

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

stabilitydifferential formsdynamical systemavoidabilityrobot kinematicssingular configuration

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Cites Work

• Stabilization of rigid body dynamics by the Energy-Casimir method
• On stabilization by means of the Energy-Casimir method
• Stability theory by Liapunov's direct method
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