Least squares tracking on the Euclidean group

IEEE Transactions on Automatic Control

Volumn 46, Issue 7, 2001, Pages 1127-1131

  Han, Youngmo ^a   Park, F C ^a  

^a Seoul National University   (South Korea)

Author keywords

Compliance control; Euclidean group; Least squares tracking; Lie group; Optimal control

Indexed keywords

CONFORMAL MAPPING; CONSTRAINT THEORY; LINEAR SYSTEMS; MATRIX ALGEBRA; MOTION CONTROL; NONLINEAR SYSTEMS; OPTIMIZATION; ROBOTICS;

COMPLIANCE CONTROL; EUCLIDEAN GROUP; LEAST SQUARES TRACKING; LIE GROUP;

OPTIMAL CONTROL SYSTEMS;

EID: 0035391702     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.935069     Document Type: Article

References (9)

1. A study on target approachable force-guided control with adaptive accomodation for complex assembly
2. An extension of screw theory
3. Optimal path planning on matrix lie groups
4. Admittance matrix design for force-guided assembly
5. Intelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace
6. Proportional derivative (PD) control on the Euclidean group
7. Distance metrics on the rigid body motions with applications to mechanism design