Modeling of overactuated closed-loop mechanisms with singularities: Simulation and control

Proceedings of the ASME Design Engineering Technical Conference

Volumn 6 A, Issue , 2001, Pages 207-214

  Ganovski, Latchezar L ^a   Fisette, Paul ^a   Samin, Jean Claude ^a  

^a UNIVERSITÉ CATHOLIQUE DE LOUVAIN   (Belgium)

Author keywords

Actuational redundancy; Closed loop kinematics; Computed torque control; Coordinate partitioning; Feed forward control; Singularities

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; ITERATIVE METHODS; KINEMATICS; LAGRANGE MULTIPLIERS; MANIPULATORS; MATHEMATICAL MODELS; POLYNOMIALS; REDUNDANCY; ROBUSTNESS (CONTROL SYSTEMS); TORQUE CONTROL; CONTROLLERS; DESIGN; MECHANISMS; VIBRATIONS (MECHANICAL);

CLOSED-LOOP KINEMATICS; COORDINATE PARTITIONING; FEED-FORWARD CONTROL; SINGULARITIES; COORDINATE PARTITIONING METHOD; FEED-FORWARD CONTROLLERS; INSTANTANEOUS LOADING; MODELING AND CONTROL; PARALLEL MANIPULATORS; POLYNOMIAL FUNCTIONS; REDUNDANTLY ACTUATED; SINGULAR CONFIGURATIONS;

CLOSED LOOP CONTROL SYSTEMS;

EID: 0035790739     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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