Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios

DOI10.1007/s11071-021-06545-6zbMath1537.70014MaRDI QIDQ6543281

Jinoh Lee, Yisoo Lee, Nikos Tsagarakis

Publication date: 24 May 2024

Published in: Nonlinear Dynamics (Search for Journal in Brave)

zbMATH Keywords

robot controlnonlinear robot dynamicsoperational space formulationunder-actuated robot

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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