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Volumn 9, Issue 1, 2004, Pages 129-132

Nonlinear tracking control of kinematically redundant robot manipulators

Author keywords

Kinematically redundant manipulators; Model based control; Subtask tracking

Indexed keywords

CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; LYAPUNOV METHODS; NONLINEAR CONTROL SYSTEMS; ROBOTICS;

EID: 1942422291     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2004.823890     Document Type: Article
Times cited : (73)

References (14)
  • 1
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    • Colbaugh, R.1    Glass, K.2
  • 3
    • 84995077357 scopus 로고
    • Dynamic control of redundant manipulators
    • P. Hsu, J. Hauser, and S. Sastry, "Dynamic control of redundant manipulators," J. Robot. Syst., vol. 6, pp. 133-148, 1989.
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    • Hsu, P.1    Hauser, J.2    Sastry, S.3
  • 6
    • 0023862586 scopus 로고
    • Adaptive computed torque control for rigid link manipulators
    • R. Middleton and C. Goodwin, "Adaptive computed torque control for rigid link manipulators," Syst. Contr. Lett., vol. 10, pp. 9-16, 1988.
    • (1988) Syst. Contr. Lett. , vol.10 , pp. 9-16
    • Middleton, R.1    Goodwin, C.2
  • 8
    • 84995012747 scopus 로고
    • Redundancy resolution through local optimization: A review
    • D. N. Nenchev, "Redundancy resolution through local optimization: A review," J. Robot. Syst., vol. 6, pp. 769-798, 1989.
    • (1989) J. Robot. Syst. , vol.6 , pp. 769-798
    • Nenchev, D.N.1
  • 9
    • 45249125931 scopus 로고
    • Adaptive motion control of ridig robots: A tutorial
    • R. Ortega and M. Spong, "Adaptive motion control of ridig robots: A tutorial," Automatica, vol. 25, no. 6, pp. 877-888, 1989.
    • (1989) Automatica , vol.25 , Issue.6 , pp. 877-888
    • Ortega, R.1    Spong, M.2
  • 10
    • 0027814622 scopus 로고
    • Compliant motion control of kinematically redundant manipulators
    • Dec.
    • Z. X. Peng and N. Adachi, "Compliant motion control of kinematically redundant manipulators," IEEE Trans. Robot. Automat., vol. 9, pp. 831-837, Dec. 1993.
    • (1993) IEEE Trans. Robot. Automat. , vol.9 , pp. 831-837
    • Peng, Z.X.1    Adachi, N.2
  • 11
    • 0024715762 scopus 로고
    • Configuration control of redundant manipulators: Theory and implementation
    • Aug.
    • H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Trans. Robot. Automat., vol. 5, pp. 472-490, Aug. 1989.
    • (1989) IEEE Trans. Robot. Automat. , vol.5 , pp. 472-490
    • Seraji, H.1
  • 12
    • 7044269012 scopus 로고
    • Kinematic control of redundant robot manipulators: A tutorial
    • B. Siciliano, "Kinematic control of redundant robot manipulators: A tutorial," J. Intell. Robot. Syst., vol. 3, pp. 201-212, 1990.
    • (1990) J. Intell. Robot. Syst. , vol.3 , pp. 201-212
    • Siciliano, B.1


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.