Geometric motion control for a kinematically redundant robotic chain: Application to a holonomic mobile manipulator

Journal of Robotic Systems

Volumn 20, Issue 5, 2003, Pages 211-227

  Altafini, Claudio ^a  

^a SISSA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; LINEAR ALGEBRA; LYAPUNOV METHODS; MANIPULATORS; MOBILE ROBOTS; MOTION CONTROL; MOTION PLANNING; PROPORTIONAL CONTROL SYSTEMS;

DE CASTELJAU ALGORITHM; GEOMETRIC MOTION CONTROL; HOLONOMIC MOBILE MANIPULATOR; KINEMATICALLY REDUNDANT ROBOTIC CHAIN; LYAPUNOV BASED PROPORTIONAL DERIVATIVE CONTROLLER;

END EFFECTORS;

EID: 0037987828     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.10084     Document Type: Article

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