A new control algorithm in terms of normalized quasi-velocities with gravitational forces

Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999

Volumn , Issue , 1999, Pages 95-100

  Kozłowski, Krzysztof ^a   Herman, Przemyslaw ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Computational algorithms; Control; Gravitational forces; Quasi velocities; Robots

Indexed keywords

CONTROL; DEGREES OF FREEDOM (MECHANICS); GRAVITATION; MANIPULATORS; ROBOTS; VELOCITY;

COMPUTATIONAL ALGORITHM; GRAVITATIONAL FORCES; QUASI-VELOCITIES; RECURSIONS; ROBOT DYNAMICS; TWO DEGREES OF FREEDOM; VECTOR MATRIX;

ALGORITHMS;

EID: 0004989193     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROMOCO.1999.791059     Document Type: Conference Paper

References (5)

1. Craig, J.J., Introduction to Robotics. Mechanics and Control Addison-Wesley, Reading, 1989.
2. Jain A., Rodriguez G., Diagonalized Lagrangian Robot Dynamics, IEEE Transactions on Robotics and Automation, Vol. 11, No 4, 1995, s. 571-584.
3. Koziowski K.: Mathematical Dynamic Robot Models and Identification of Their Parameters, Technical University of Poznań Press, 1992 (in Polish).
4. Koziowski K., Robot Dynamics Models in Terms of Generalized and Quasi-Coordinates: a Comparison, Appl. Math, and Comp. Sci., Vol. 5, No 2, 1995, pp. 305-328.
5. Koziowski K., Herman P., New robot algorithms in terms of quasi-velocities, Studies in Automation and Information Technology, Vol. XX, Poznań, 1995, pp. 57-76 (in Polish).