Task-level approaches for the control of constrained multibody systems

DOI10.1007/s11044-006-9017-3zbMath1126.70012OpenAlexW2052538351MaRDI QIDQ871704

Scott Delp, Oussama Khatib, Vincent De Sapio

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/s11044-006-9017-3

zbMATH Keywords

symmetrynull spaceoperational space

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Holonomic systems related to the dynamics of a system of particles (70F20) Dynamics of multibody systems (70E55)

Related Items (3)

Singularly perturbed feedback linearization with linear attitude deviation dynamics realization ⋮ Unnamed Item ⋮ Least action principles and their application to constrained and task-level problems in robotics and biomechanics

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