A comparison of certain quasi-velocities approaches in PD joint space control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 3819-3824

  Herman, P ^a   Kozlowski, K ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; MANIPULATORS; MATRIX ALGEBRA; RECURSIVE FUNCTIONS;

SERIAL MANIPULATORS;

ROBOTICS;

EID: 0034868847     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933213     Document Type: Conference Paper

References (7)

1. Diagonalized lagrangian robot dynamics
2. An instantaneous eigenstructure quasivelocity formulation for nonlinear multibody dynamics
3. A control in terms of unnormalized quasi-velocities with gravitational forces
4. A tracking control in terms of unnormalized quasi-coordinates
5. A spatial operator algebra for manipulator modeling and control
6. Adaptive manipulator control: A case study