Control of a three-link manipulator with an inequality constraint on the velocity of its end-effector

DOI10.1016/S0045-7825(00)00368-6zbMath0991.70008OpenAlexW2060086432MaRDI QIDQ5944638

Yaakov Yavin

Publication date: 6 September 2002

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0045-7825(00)00368-6

zbMATH Keywords

constraints on anglesinequality constraintkinematical inequalitiesthree-link planar manipulatorvelocity of end-effector

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

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• On a horizontal version of the inverse pendulum problem
• Control of nonlinear systems with general nonholonomic constraints
• Computation of feasible control trajectories for the navigation of a ship around an obstacle in the presence of a sea current

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