Modeling closed kinematic chains via singular perturbations

Proceedings of the American Control Conference

Volumn 5, Issue , 2002, Pages 4104-4110

  Dabney, James B ^a   Ghorbel, Fathi H ^b   Wang, Zhiyong ^b  

^a UNIVERSITY OF HOUSTON CLEAR LAKE   (United States)

^b Rice University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED KINEMATICS CHAINS; DIFFERENTIAL ALGEBRAIC EQUATIONS; SINGULAR PERTURBATIONS;

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); DIFFERENTIAL EQUATIONS; KINEMATICS; PERTURBATION TECHNIQUES;

CONTROL SYSTEM SYNTHESIS;

EID: 0036055955     PISSN: 07431619     EISSN: None     Source Type: Journal    
DOI: 10.1109/ACC.2002.1024573     Document Type: Article

References (13)

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6. Modeling and set point control of closed-chain mechanisms: Theory and experiment
7. Robustness of adaptive control of robots
8. Integral manifolds of singularly perturbed systems with application to rigid-link flexible-joint multibody systems
9. Reduced model based tracking control of robots with closed kinematic chains: Analysis and implementation