Task-level approaches for the control of constrained multibody systems

Multibody System Dynamics

Volumn 16, Issue 1, 2006, Pages 73-102

  De Sapio, Vincent ^a   Khatib, Oussama ^a   Delp, Scott ^b  

^a Stanford University   (United States)

^b STANFORD UNIVERSITY   (United States)

Author keywords

Constrained multibody dynamics; Flexible rigid multibody system; Null space; Operational space; Task level control

Indexed keywords

CONSTRAINT THEORY; CONTROL SYSTEMS; DYNAMICS; MOTION COMPENSATION; OPTIMIZATION;

CONSTRAINED MULTIBODY DYNAMICS; FLEXIBLE/RIGID MULTIBODY SYSTEM; NULL SPACE; OPERATIONAL SPACE; TASK-LEVEL CONTROL;

NONLINEAR SYSTEMS;

EID: 33746439488     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-006-9017-3     Document Type: Article

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