A quasi-velocity-based nonlinear controller for rigid manipulators

DOI10.1016/J.MECHRESCOM.2008.07.010zbMath1206.70009OpenAlexW1970659475MaRDI QIDQ985981

Przemysław Herman

Publication date: 9 August 2010

Published in: Mechanics Research Communications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechrescom.2008.07.010

zbMATH Keywords

inertia matrixfirst-order decoupled equationstask-oriented robot control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Robust Saturated PI Joint Velocity Control for Robot Manipulators ⋮ A new bounded kinematic controller for operational space motion of manipulators

Cites Work

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• Hamel coefficients for the rotational motion of anN–dimensional rigid body
• On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems
• Adaptive output feedback control of nonlinear systems represented by input-output models

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