Simultaneous control of position and orientation for ball-plate manipulation problem based on time-state control form

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 3, 2004, Pages 465-479

  Date, Hisashi ^a   Sampei, Mitsuji ^b   Ishikawa, Masato ^c,d   Koga, Masanobu ^e  

^a NATIONAL DEFENSE ACADEMY   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

^c UNIVERSITY OF TOKYO   (Japan)

^d KYOTO UNIVERSITY   (Japan)

^e KYUSHU INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Ball plate manipulation; Driftless system; Multigenerator system; Nonholonomic constraint; Time state control form

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; KINEMATICS; LINEAR SYSTEMS;

BALL-PLATE MANIPULATION; DRIFTLESS SYSTEM; MULTIGENERATOR SYSTEM; NONHOLONOMIC CONSTRAINT; ORIENTATION CONTROL; TIME-STATE CONTROL FORM;

POSITION CONTROL;

EID: 2942735497     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2004.825267     Document Type: Article

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