A dynamics formulation of general constrained robots

DOI10.1007/s11044-006-9011-9zbMath1117.70010OpenAlexW4243758256MaRDI QIDQ871699

Wen-Hong Zhu, Jean-Claude Piedboeuf, Yves Gonthier

Publication date: 20 March 2007

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-006-9011-9

zbMATH Keywords

coordinated multiple-arm systemssubsystem dynamicsvirtual decomposition control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

A clear description of system dynamics through the physical parameters and generalized coordinates

Cites Work

• Motion and force control of multiple robotic manipulators
• Direct adaptive impedance control including transition phases
• Feedback stabilization and tracking of constrained robots
• Unified formulation of dynamics for serial rigid multibody systems
• An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots
• Adaptive hybrid control strategies for constrained robots

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