Applications and prospect of the nonlinear decoupling method

DOI10.1016/S0045-7825(97)86746-1zbMath0957.70003OpenAlexW2094780713MaRDI QIDQ1962644

Yanyan Li

Publication date: 31 January 2000

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0045-7825(97)86746-1

zbMATH Keywords

roboticsimpulsive problemscontrol lawsLagrangian equationsnonlinear decoupling methodrobot joint models

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Dynamical couplings reduction for rigid manipulators using generalized velocity components ⋮ Control of a pneumatic power active lower-limb orthosis with filter-based iterative learning control ⋮ Inverse dynamics control in terms of unnormalized quasi-velocities ⋮ Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix ⋮ Dynamical couplings analysis of rigid manipulators

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