A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: Applications to control and simulation

IEEE Transactions on Robotics

Volumn 21, Issue 5, 2005, Pages 834-849

  Aghili, Farhad ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

Constrained multibody systems; Constraint motion control; Hybrid force motion control

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; FORCE CONTROL; LINEAR CONTROL SYSTEMS; MATRIX ALGEBRA; MOTION CONTROL;

CONSTRAINED MULTIBODY SYSTEMS; CONSTRAINT MOTION CONTROL; HYBRID FORCE CONTROL;

ROBOTICS;

EID: 27144548031     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.851380     Document Type: Article

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