Steering a class of redundant mechanisms through end-effector generalized forces

IEEE Transactions on Robotics and Automation

Volumn 14, Issue 2, 1998, Pages 329-335

  De Luca, Alessandro ^a   Mattone, Raffaella ^a   Oriolo, Giuseppe ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Holonomy angle; Nonholonomic constraints; Open loop steering; Redundant robots; Underactuated mechanisms

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROLLABILITY; END EFFECTORS; FEEDBACK; LINEARIZATION; MOBILE ROBOTS;

HOLONOMY ANGLES;

MANIPULATORS;

EID: 0032050575     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.681252     Document Type: Article

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