The application of extended inverse dynamics control

DOI10.1016/S0898-1221(00)00186-3zbMath0959.70020MaRDI QIDQ1586251

P. D. Kemp, Yaakov Yavin

Publication date: 13 November 2000

Published in: Computers \& Mathematics with Applications (Search for Journal in Brave)

zbMATH Keywords

linearizationkinematical constraintsarticulated cranecomplementary nonlinear systemconstrained control problemdouble integrator systemextended inverse dynamic control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Modelling of the planar motion of a rolling four links robot

Cites Work

• An improved version of the original leap-frog dynamic method for unconstrained minimization: LFOP1(b)
• A new and dynamic method for unconstrained minimization
• Computation of feasible control trajectories for the navigation of a ship around an obstacle in the presence of a sea current
• On the control of a constrained multibody system
• An extended inverse dynamics control
• Computation of feasible command strategies for the navigation of a ship in a narrow zigzag channel

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