Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds

DOI10.1080/13873951003738250zbMath1200.93108OpenAlexW2080546129MaRDI QIDQ3161634

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Publication date: 15 October 2010

Published in: Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/10.1080/13873951003738250

zbMATH Keywords

invariant manifoldnonlinear descriptor systemcoupling control2-DOF controller designredundant parallel robotic manipulator

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

Cites Work

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• Nonlinear control systems.
• Attractors and partial stability of nonlinear dynamical systems.
• Stabilization of constraints and integrals of motion in dynamical systems
• Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach
• Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix

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