Inverse dynamics control in terms of unnormalized quasi-velocities

DOI10.1016/J.JFRANKLIN.2004.08.004zbMath1083.93040OpenAlexW2077117826MaRDI QIDQ1763978

Przemysław Herman

Publication date: 22 February 2005

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2004.08.004

zbMATH Keywords

integralsnormal formkinetic energynonholonomic systemsmanipulatordecouplingdouble pendulumquasi-velocitiesvelocity trackingcurvilinear velocitiesinverse control problem

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Canonical structure (93B10) Control of mechanical systems (70Q05) Synthesis problems (93B50) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Tracking for fully actuated mechanical systems: A geometric framework
• Theory of robot control
• Applications and prospect of the nonlinear decoupling method
• Modelling and control of robot manipulators.
• New class of control laws for robotic manipulators Part 1. Non–adaptive case

This page was built for publication: Inverse dynamics control in terms of unnormalized quasi-velocities