Independent hybrid force/motion control of constrained six-degrees-of-freedom manipulators

DOI10.1023/A:1012062422100zbMath1060.70019OpenAlexW96823769MaRDI QIDQ1610793

Mario Clerici, Marc von Wattenwyl, Hans J. Brauchli

Publication date: 20 August 2002

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1012062422100

zbMATH Keywords

feedback linearizationaugmented PD controlmass orthogonality

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)

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