A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators

DOI10.1115/1.2801200zbMath0881.93050OpenAlexW1994444788MaRDI QIDQ4361167

Fathi Ghorbel, Ruvinda Gunawardana

Publication date: 26 October 1997

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2801200

zbMATH Keywords

stability analysisrobot manipulatorsboundedness of the Jacobian of the gravitational force

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

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