On the stability of the hybrid-damped resolved-acceleration control

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199809)15:9<505::AID-ROB2>3.0.CO;2-O" /><505::AID-ROB2>3.0.CO;2-O 10.1002/(SICI)1097-4563(199809)15:9<505::AID-ROB2>3.0.CO;2-OzbMath0989.70003OpenAlexW1988757602MaRDI QIDQ4269724

Shirkuan Lin, Sun-Li Wu

Publication date: 1 August 2002

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199809)15:9<505::aid-rob2>3.0.co;2-o

zbMATH Keywords

asymptotic stabilitysingular pointmanipulatorself-motionstep inputhybrid-damped resolved-acceleration control

Mathematics Subject Classification ID

Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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