A geometrical setting for the Newtonian mechanics of robots

DOI10.1016/0016-0032(86)90051-7zbMath0615.70009OpenAlexW2035192647WikidataQ127237566 ScholiaQ127237566MaRDI QIDQ1820608

Reuven Segev, Amit Ailon

Publication date: 1986

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

Full work available at URL: https://doi.org/10.1016/0016-0032(86)90051-7

zbMATH Keywords

configuration spacekinetic energycontrol parametersdifferentiable manifoldtangent bundlesparallel translationgeneralized momentummechanical manipulatorsgeometric invariant formulation

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Applications of local differential geometry to the sciences (53B50) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

Dynamics of Nonholonomic Systems ⋮ Dynamics of Nonholonomic Systems ⋮ Investigation of Painlevé's paradox and dynamic jamming during mechanism sliding motion

Cites Work

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