Feedback linearization of robot manipulators and riemannian curvature

DOI10.1002/rob.4620120804zbMath0838.70006OpenAlexW2106781406WikidataQ115396836 ScholiaQ115396836MaRDI QIDQ4861110

Nazareth S. Bedrossian, Mark W. Spong

Publication date: 3 June 1996

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620120804

zbMATH Keywords

Jacobiancanonical transformationfactorizationnecessary and sufficient conditionrobot inertia matrix

Mathematics Subject Classification ID

Feedback control (93B52) Kinematics of mechanisms and robots (70B15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Related Items (6)

A homotopy algorithm for approximating geometric distributions by integrable systems ⋮ Unnamed Item ⋮ Mechanical linearization of mechanical control systems without controllability assumption ⋮ Unnamed Item ⋮ Trajectory design for mechanical control systems: from geometry to algorithms ⋮ A globally exponentially stable speed observer for a class of mechanical systems: experimental and simulation comparison with high-gain and sliding mode designs

Cites Work

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