Path-constrained control of a redundant manipulator in a task space

Robotics and Autonomous Systems

Volumn 54, Issue 3, 2006, Pages 234-243

  Galicki, Mirosław ^a,b  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

^b UNIVERSITY OF ZIELONA GÓRA   (Poland)

Author keywords

Control constraints; Lyapunov stability; Path following

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; END EFFECTORS; LYAPUNOV METHODS; MOTION PLANNING; PROBLEM SOLVING; ROBOTICS;

CONTROL CONSTRAINTS; LYAPUNOV STABILITY; PATH FOLLOWING;

REDUNDANT MANIPULATORS;

EID: 32844472477     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2005.11.001     Document Type: Article

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