New results on control of multibody systems which conserve angular momentum
type: Item
instance of: scholarly article
title: New results on control of multibody systems which conserve angular momentum
zbMATH Open document ID: 0949.70020
DOI: 10.1007/BF02255892
author: Vincent T. Coppola
author: Ilya Kolmanovsky
author: N. Harris Mcclamroch
published in: Journal of Dynamical and Control Systems
publication date: 2000-04-13T00:00:00Z
review text: The authors study the control of motion of a plane multilink consisting of \(N(N>1)\) rigid bodies interconnected with one-degree-of-freedom frictionless rotational joints in the form of an open kinematic tree. Such systems conserve angular momentum and have applications in space robotics, spring-board diver dynamics, and in the study of falling cat phenomenon. The authors reduce the initial problem to the problem of reconfiguring the multilink from a given initial shape and orientation to a specified final shape and orientation over a specified time interval. They prove that, if the multilink consists of at least three nondegenerate links, for any number of angular momentum joint actuators, it is possible to reconfigure the multilink arbitrarily over an arbitrary time interval.
reviewed by: Ştefan Zanfir
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70E55
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 1431798
zbMATH Keywords: reconfiguration of multilink
zbMATH Keywords: plane multilink
zbMATH Keywords: one-degree-of-freedom frictionless rotational joints
zbMATH Keywords: open kinematic tree
zbMATH Keywords: angular momentum
zbMATH Keywords: orientation
zbMATH Keywords: joint actuators
MaRDI profile type: Publication
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full work available at URL: https://doi.org/10.1007/bf02255892
OpenAlex ID: W2032873991
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description: scientific article; zbMATH DE number 1431798