Generation of natural motions for redundant multi-joint system: A differential-geometric approach based upon the principle of least actions

Journal of Robotic Systems

Volumn 22, Issue 11, 2005, Pages 583-605

  Arimoto, S ^a   Hashiguchi, H ^a   Sekimoto, M ^a   Ozawa, R ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); DIFFERENTIAL EQUATIONS; DYNAMICS; INVERSE KINEMATICS; MATRIX ALGEBRA; MOTION CONTROL; OPTIMIZATION; STIFFNESS; TORQUE CONTROL;

CLOSED LOOP DYNAMICS; NEWTONIAN MECHANICS; REDUNDANT MULTI-JOINT SYSTEMS;

ROBOTIC ARMS;

EID: 28044440503     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.20086     Document Type: Article

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