Applications and prospect of the nonlinear decoupling method
type: Item
instance of: scholarly article
title: Applications and prospect of the nonlinear decoupling method
zbMATH Open document ID: 0957.70003
DOI: 10.1016/S0045-7825(97)86746-1
author: Yanyan Li
published in: Computer Methods in Applied Mechanics and Engineering
publication date: 2000-01-31T00:00:00Z
review text: The authors demonstrate the usefulness of the nonlinear decoupling method in robotics. They firstly indicate how the method can be used in control problems with particular reference to robot joint models, and then discuss how the method can be applied as a modelling formalism which enables the derivation of both control laws and Lagrangian equations. It is pointed out how the method used can be extended to impulsive problems, and how the behaviour of a nonlinear system can be determined from the associated decoupled and linearized counterparts. A short discussion of medical applications of the decoupling method closes the paper. A list of over 160 references contains an account of the problems which may be solved by the method.
Mathematics Subject Classification ID: 70-08
Mathematics Subject Classification ID: 70E60
zbMATH DE Number: 1396014
zbMATH Keywords: nonlinear decoupling method
zbMATH Keywords: robotics
zbMATH Keywords: robot joint models
zbMATH Keywords: control laws
zbMATH Keywords: Lagrangian equations
zbMATH Keywords: impulsive problems
reviewed by: Ll. G. Chambers
MaRDI profile type: Publication
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Applications and prospect of the nonlinear decoupling method (full work available at URL)
full work available at URL: s0045-7825(97)86746-1

Applications and prospect of the nonlinear decoupling method (OpenAlex ID)
OpenAlex ID: W2094780713