The power dissipation method and kinematic reducibility of multiple-model robotic systems

IEEE Transactions on Robotics

Volumn 22, Issue 4, 2006, Pages 694-710

  Murphey, Todd D ^a   Burdick, Joel W ^b  

^a University of Colorado at Boulder   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Contact modeling; Dynamics; Frictional contacts; Kinematic analysis; Modeling for control

Indexed keywords

FRICTION; KINEMATICS; MANIPULATORS; MATHEMATICAL MODELS; MOTION PLANNING;

EULER-LAGRANGE EQUATIONS; FRICTIONAL CONTACTS; LAGRANGIAN MECHANICS; POWER DISSIPATION METHOD;

ROBOTICS;

EID: 33747596888     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.878971     Document Type: Article

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