Inverse dynamics of redundant manipulators using a minimum number of control forces

DOI10.1002/rob.4620120806zbMath0840.70006OpenAlexW2143536836WikidataQ126236220 ScholiaQ126236220MaRDI QIDQ4861112

S. Kemal Ider

Publication date: 10 July 1996

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

Full work available at URL: https://doi.org/10.1002/rob.4620120806

zbMATH Keywords

perturbationsclosed-loop controlsingular configurationshigher-order derivative informationclosed chain manipulators

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Cites Work

• Stability analysis of constrained multibody systems
• Stabilization of constraints and integrals of motion in dynamical systems
• Dynamics of Constrained Multibody Systems
• Singular Value Decomposition for Constrained Dynamical Systems
• Dynamic control of redundant manipulators
• Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach
• Discrete-Time Inverse Dynamics Control of Flexible Joint Robots
• A non‐recursive Lagrangian solution of the non‐causal inverse dynamics of flexible multibody systems: The planar case

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