Joint‐space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints

DOI10.1002/RNC.4590050404zbMath0869.93032OpenAlexW2077316207MaRDI QIDQ4847419

Suguru Arimoto

Publication date: 6 August 1997

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.4590050404

zbMATH Keywords

geometric constraintsjoint-space orthogonalizationhybrid control for robot manipulators

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

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