Inertia equivalence principle and adaptive control of redundant parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 835-840

  Liu, G F ^a   Wu, X Z ^a   Li, Z X ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; ASYMPTOTIC STABILITY; KINEMATICS; KINETIC ENERGY; MOTION CONTROL; SYSTEM STABILITY;

INERTIA EQUIVALENCE PRINCIPLE; PARALLEL MANIPULATORS;

REDUNDANT MANIPULATORS;

EID: 0036057689     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators
2. Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control
3. Constrained robot dynamics II: Parallel machines
4. A geometric unification of constrained system dynamics
5. Analysis and control of redundant parallel manipulators
6. Control of impact disturbance by redundantly actuated mechanism
7. Dynamics and control of parallel manipulators with redundant actuation
8. Distribution of singularities and optimal control of redundant parallel manipulators
9. Nonlinear control of mechanical systems: A Riemannian geometry approach
10. Adaptive manipulator control: A case study