A comparison of control algorithms for serial manipulators in terms of quasi-velocities

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2000, Pages 1540-1544

  Kozlowski, K ^a   Herman, P ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KINETIC ENERGY; MATRIX ALGEBRA; RECURSIVE FUNCTIONS; ROBOTICS; VELOCITY;

JAIN-RODRIGUEZ QUASI-VELOCITY; NUMERICAL MASS MATRIX FACTORIZATION; ROBOT DYNAMIC ALGORITHMS; VECTOR-MATRIX NOTATION;

MANIPULATORS;

EID: 0034449837     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. Diagonalized Lagrangian robot dynamics
2. An instantaneous eigenstructure quasivelocity formulation for nonlinear multibody dynamics
3. A new control algorithm in terms of normalized quasi-velocities with gravitational forces
4. Performance in adaptive manipulator control
5. A spatial operator algebra for manipulator modeling and control
6. On the adaptive control of robot manipulators