Optimal control of manipulators with any number of passive joints

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199803)15:3<115::AID-ROB1>3.0.CO;2-T" /><115::AID-ROB1>3.0.CO;2-T 10.1002/(SICI)1097-4563(199803)15:3<115::AID-ROB1>3.0.CO;2-TzbMath0947.70017OpenAlexW2064251132MaRDI QIDQ4269699

Yangsheng Xu, Marcel Bergerman

Publication date: 9 November 1999

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199803)15:3<115::aid-rob1>3.0.co;2-t

zbMATH Keywords

optimal controlrobot manipulatorspassive jointssufficient condition for controllabilitydynamic coupling with active joints

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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