Theory of applied robotics: Kinematics, dynamics, and control (2nd Edition)

Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition)

Volumn , Issue , 2010, Pages 1-883

  Jazar, Reza N ^a  

^a RMIT UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 84892237196     PISSN: None     EISSN: None     Source Type: Book    
DOI: 10.1007/978-1-4419-1750-8     Document Type: Book

References (180)

1. Asimov, I., 1950, I, Robot, Doubleday & Company, Inc., New York.
2. Aspragathos, N. A., and Dimitros, J. K., 1998, A comparative study of three methods for robot kinematics, IEEE Transaction on Systems, Man and Cybernetic-PART B: CYBERNETICS, 28(2), 115-145.
3. Chernousko, F. L., Bolotnik, N. N., and Gradetsky, V. G., 1994, Manipulation Robots: Dynamics, Control, and Optimization, CRC Press, Boca Raton, Florida.
4. Denavit, J., and Hartenberg, R. S., 1955, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, 22(2), 215-221.
5. Dugas, R., 1995, A History of Mechanics (English translation), Switzerland, Editions du Griffon, Central Book Co., New York.
6. Erdman, A. G., 1993, Modern Kinematics: Developed in the Last Forty Years, John Wiley & Sons, New York.
7. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
8. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
9. Milne, E. A., 1948, Vectorial Mechanics, Methuen & Co. LTD., London.
10. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.
11. Rosheim, M. E., 1994, Robot Evolution: The Development of Anthrobotics, John Wiley & Sons, New York.
12. Shahinpoor, M., 1987, A Robot Engineering Textbook, Harper and Row Publishers, New York and London.
13. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
14. Veit, S., 1992, Whatever happened to .. personal robots?, The Computer Shopper, 12(11), 794-795.
15. Buss, S. R., 2003, 3-D Computer Graphics: A Mathematical Introduction with OpenGL, Cambridge University Press, New York.
16. Cheng, H., and Gupta, K. C., 1989, A historical note on finite rotations, Journal of Applied Mechanics, 56, 139-145.
17. Coe, C. J., 1934, Displacement of a rigid body, American Mathematical Monthly, 41(4), 242-253.
18. Denavit, J., and Hartenberg, R. S., 1955, A kinematic notation for lowerpair mechanisms based on matrices, Journal of Applied Mechanics, 22(2), 215-221.
19. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
20. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, MA.
21. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.
22. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
23. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.
24. Paul, B., 1963, On the composition of finite rotations, American Mathematical Monthly, 70(8), 859-862.
25. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
26. Rimrott, F. P. J., 1989, Introductory Attitude Dynamics, Springer-Verlag, New York.
27. Rosenberg, R.,M. 1977, Analytical Dynamics of Discrete Systems, Plenum Publishing Co., New York.
28. Schaub, H., and Junkins, J. L., 2003, Analytical Mechanics of Space Systems, AIAA Educational Series, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.
29. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
30. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
31. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
32. Buss, S. R., 2003, 3-D Computer Graphics: A Mathematical Introduction with OpenGL, Cambridge University Press, New York.
33. Denavit, J., and Hartenberg, R. S., 1955, A kinematic notation for lowerpair mechanisms based on matrices, Journal of Applied Mechanics, 22(2), 215-221.
34. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London U.K.
35. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
36. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.
37. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
38. Paul, B., 1963, On the composition of finite rotations, American Mathematical Monthly, 70(8), 859-862.
39. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
40. Rimrott, F. P. J., 1989, Introductory Attitude Dynamics, Springer-Verlag, New York.
41. Rosenberg, R.,M. 1977, Analytical Dynamics of Discrete Systems, Plenum Publishing Co., New York.
42. Schaub, H., and Junkins, J. L., 2003, Analytical Mechanics of Space Systems, AIAA Educational Series, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.
43. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
44. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
45. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
46. Wittenburg, J., and Lilov, L., 2003, Decomposition of a finite rotation into three rotations about given axes, Multibody System Dynamics, 9, 353- 375.
47. Ball, R. S., 1900, A Treatise on the Theory of Screws, Cambridge University Press, USA.
48. Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North-Holland Publication, Amsterdam, The Netherlands.
49. Chernousko, F. L., Bolotnik, N. N., and Gradetsky, V. G., 1994, Manipulation Robots: Dynamics, Control, and Optimization, CRC press, Boca Raton, Florida.
50. Davidson, J. K., and Hunt, K. H., 2004, Robots and Screw Theory: Applications of Kinematics and Statics to Robotics, Oxford University Press, New York.
51. Denavit, J., and Hartenberg, R. S., 1955, A kinematic notation for lowerpair mechanisms based on matrices, Journal of Applied Mechanics, 22(2), 215-221.
52. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
53. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
54. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.
55. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.
56. Plücker, J., 1866, Fundamental views regarding mechanics, Philosophical Transactions, 156, 361-380.
57. Selig, J.M., 2005, Geometric Fundamentals of Robotics, 2nd ed., Springer, New York.
58. Schaub, H., and Junkins, J. L., 2003, Analytical Mechanics of Space Systems, AIAA Educational Series, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.
59. Schilling, R. J., 1990, Fundamentals of Robotics: Analysis and Control, Prentice Hall, New Jersey.
60. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
61. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
62. Asada, H., and Slotine, J. J. E., 1986, Robot Analysis and Control, John Wiley & Son, New York.
63. Ball, R. S., 1900, A Treatise on the Theory of Screws, Cambridge University Press, USA.
64. Bernhardt, R., and Albright, S. L., 2001, Robot Calibration, Springer, New York.
65. Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North-Holland Publication, Amsterdam, The Netherlands.
66. Davidson, J. K., and Hunt, K. H., 2004, Robots and Screw Theory: Applications of Kinematics and Statics to Robotics, Oxford University Press, New York.
67. Denavit, J., and Hartenberg, R. S., 1955, A kinematic notation for lowerpair mechanisms based on matrices, Journal of Applied Mechanics, 22(2), 215-221.
68. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
69. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
70. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
71. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
72. Schilling, R. J., 1990, Fundamentals of Robotics: Analysis and Control, Prentice Hall, New Jersey.
73. Schroer, K., Albright, S. L., and Grethlein, M., 1997, Complete, minimal and model-continuous kinematic models for robot calibration, Rob. Comp.- Integr. Manufact., 13(1), 73-85.
74. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
75. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
76. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
77. Wang, K., and Lien, T., 1988, Structure, design & kinematics of robot manipulators, Robotica, 6, 299-306.
78. Zhuang, H., Roth, Z. S., and Hamano, F., 1992, A complete, minimal and model-continuous kinematic model for robot manipulators, IEEE Trans. Rob. Automation, 8(4), 451-463.
79. Asada, H., and Slotine, J. J. E., 1986, Robot Analysis and Control, John Wiley & Sons, New York.
80. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
81. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
82. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
83. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
84. Wang, K., and Lien, T., 1988, Structure, design and kinematics of robot manipulators, Robotica, 6, 299-306.
85. Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North-Holland Publications, Amsterdam, The Netherlands.
86. Geradin, M., and Cardonna, A., Kinematics and Dynamics of Rigid and Flexible Mechanisms Using Finite Elements and Quaternion Algebra, Computational Mechanics, 1987.
87. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
88. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
89. Schaub, H., and Junkins, J. L., 2003, Analytical Mechanics of Space Systems, AIAA Educational Series, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.
90. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
91. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
92. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
93. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, London.
94. Kane, T. R., Likins, P. W., and Levinson, D. A., 1983, Spacecraft Dynamics, McGraw-Hill, New York.
95. Kane, T. R., and Levinson, D. A., 1980, Dynamics: Theory and Applications, McGraw-Hill, New York.
96. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
97. Rimrott, F. P. J., 1989, Introductory Attitude Dynamics, Springer-Verlag, New York.
98. Schilling, R. J., 1990, Fundamentals of Robotics: Analysis and Control, Prentice-Hall, New Jersey.
99. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
100. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
101. Talman, R., 2000, Geometric Mechanics, John Wiley & Sons, New York.
102. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
103. Carnahan, B., Luther, H. A., and Wilkes, J. O., 1969, Applied Numerical Methods, John Wiley & Sons, New York.
104. Eich-Soellner, E., and Führer, C., 1998, Numerical Methods in Multibody Dynamics, B.G. Teubner Stuttgart.
105. Gerald, C. F., and Wheatley, P. O., 1999, Applied Numerical Analysis, 6th ed., Addison Wesley, New York.
106. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
107. Mason, M. T., 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, Massachusetts.
108. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
109. Rimrott, F. P. J., 1989, Introductory Attitude Dynamics, Springer-Verlag, New York.
110. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
111. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
112. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
113. Goldstein, H., Poole, C., and Safko, J., 2002, Classical Mechanics, 3rd ed., Addison Wesley, New York.
114. MacMillan, W. D., 1936, Dynamics of Rigid Bodies, McGraw-Hill, New York.
115. Meirovitch, L., 1970, Methods of Analytical Dynamics, McGraw-Hill, New York.
116. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
117. Rimrott, F. P. J., 1989, Introductory Attitude Dynamics, Springer-Verlag, New York.
118. Rosenberg, R. M., 1977, Analytical Dynamics of Discrete Systems, Plenum Publishing Co., New York.
119. Schaub, H., and Junkins, J. L., 2003, Analytical Mechanics of Space Systems, AIAA Educational Series, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia.
120. Thomson, W. T., 1961, Introduction to Space Dynamics, John Wiley & Sons, New York.
121. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
122. Wittacker, E. T., 1947, A Treatise on the Analytical Dynamics of Particles and Rigid Bodies, 4th ed., Cambridge University Press, New York.
123. Brady, M., Hollerbach, J. M., Johnson, T. L., Lozano-Prez, T., and Mason, M. T., 1983, Robot Motion: Planning and Control, MIT Press, Cambridge, Massachusetts.
124. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.
125. Nikravesh, P., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice Hall, New Jersey.
126. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.
127. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, MA.
128. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
129. Suh, C. H., and Radcliff, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons, New York.
130. Tsai, L. W., 1999, Robot Analysis, John Wiley & Sons, New York.
131. Asada, H., and Slotine, J. J. E., 1986, Robot Analysis and Control, John Wiley & Sons, New York.
132. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
133. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.
134. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.
135. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
136. Ailon, A., and Langholz, G., 1985, On the existence of time optimal control of mechanical manipulators, Journal of Optimization Theory and Applications, 46(1), 1-21.
137. Bahrami, M., and Jazar, Reza N., 1991, Optimal control of robotic manipulators: optimization algorithm, Amirkabir Journal, 5(18), (in Persian).
138. Bahrami M., and Jazar, Reza N., 1992, Optimal control of robotic manipulators: application, Amirkabir Journal, 5(19), (in Persian).
139. Bassein, R., 1989, An Optimization Problem, American Mathematical Monthly, 96(8), 721-725.
140. Bobrow, J. E., Dobowsky, S., and Gibson, J. S., 1985, Time optimal control of robotic manipulators along specified paths, The International Journal of Robotics Research, 4(3), 495-499.
141. Courant, R., and Robbins, H., 1941, What is Mathematics?, Oxford University Press, London.
142. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
143. Fotouhi, C. R., and Szyszkowski W., 1998, An algorithm for time optimal control problems, Transaction of the ASME, Journal of Dynamic Systems, Measurements, and Control, 120, 414-418.
144. Fu, K. S., Gonzales, R. C., and Lee, C. S. G., 1987, Robotics, Control, Sensing, Vision and Intelligence, McGraw-Hill, New York.
145. Gamkrelidze, R. V., 1958, The theory of time optimal processes in linear systems, Izvestiya Akademii Nauk SSSR, 22, 449-474.
146. Garg, D. P., 1990, The new time optimal motion control of robotic manipulators, The Franklin Institute, 327(5), 785-804.
147. Hart P. E., Nilson N. J., and Raphael B., 1968, A formal basis for heuristic determination of minimum cost path, IEEE Transaction Man, System & Cybernetics, 4, 100-107.
148. Kahn, M. E., and Roth B., 1971, The near minimum time control of open loop articulated kinematic chain, Transaction of the ASME, Journal of Dynamic Systems, Measurements, and Control, 93, 164-172.
149. Kim B. K., and Shin K. G., 1985, Suboptimal control of industrial manipulators with weighted minimum time-fuel criterion, IEEE Transactions on Automatic Control, 30(1), 1-10.
150. Krotov, V. F., 1996, Global Methods in Optimal Control Theory, Marcel Decker, Inc.
151. Golnaraghi, F., and Kuo, B. C., 2009, Automatic Control Systems, John Wiley & Sons, New York.
152. Lee, E. B., and Markus, L., 1961, Optimal Control for Nonlinear Processes, Archive for Rational Mechanics and Analysis, 8, 36-58.
153. Lee, H. W. J., Teo, K. L., Rehbock, V., and Jennings, L. S., 1997, Control parameterization enhancing technique for time optimal control problems, Dynamic Systems and Applications, 6, 243-262.
154. Lewis, F. L., and Syrmos, V. L., 1995, Optimal Control, John Wiley & Sons, New York.
155. Meier E. B., and Bryson A. E., 1990, Efficient algorithm for time optimal control of a two-link manipulator, Journal of Guidance, Control and Dynamics, 13(5), 859-866.
156. Mita T., Hyon, S. H., and Nam, T. K., 2001, Analytical time optimal control solution for a two link planar acrobat with initial angular momentum, IEEE Transactions on Robotics and Automation, 17(3), 361-366.
157. Nakamura, Y., 1991, Advanced Robotics: Redundancy and Optimization, Addison Wesley, New York.
158. Nakhaie Jazar G., and Naghshinehpour A., 2005, Time optimal control algorithm for multi-body dynamical systems, IMechE Part K: Journal of Multi-Body Dynamics, 219(3), 225-236.
159. Pinch E. R., 1993, Optimal Control and the Calculus of Variations, Oxford University Press, New York.
160. Pontryagin, L. S., Boltyanskii, V. G., Gamkrelidze, R. V., and Mishchenko, E. F., 1962, The Mathematical Theory of Optimal Processes, John Wiley & Sons, New York.
161. Roxin, E., 1962, The existence of optimal controls, Michigan Mathematical Journal, 9, 109-119.
162. Shin K. G., and McKay N. D., 1985, Minimum time control of a robotic manipulator with geometric path constraints, IEEE Transaction Automatic Control, 30(6), 531-541.
163. Shin K. G., and McKay N. D., 1986, Selection of near minimum time geometric paths for robotic manipulators, IEEE Transaction Automatic Control, 31(6), 501-511.
164. Skowronski, J. M., 1986, Control Dynamics of Robotic Manipulator, Academic Press Inc., U.S.
165. Slotine, J. J. E., and Yang, H. S., 1989, Improving the efficiency of time optimal path following algorithms, IEEE Trans. Robotics Automation, 5(1), 118-124.
166. Spong, M. W., Thorp, J. S., and Kleinwaks, J., M., 1986, The control of robot manipulators with bounded input, IEEE Journal of Automatic Control, 31(6), 483-490.
167. Sundar, S., and Shiller, Z., 1996, A generalized sufficient condition for time optimal control, Transaction of the ASME, Journal of Dynamic Systems, Measurements, and Control, 118(2), 393-396.
168. Takegaki, M., and Arimoto, S., 1981, A new feedback method for dynamic control of manipulators, Transaction of the ASME, Journal of Dynamic Systems, Measurements, and Control, 102, 119-125.
169. Vincent T. L., and Grantham W. J., 1997, Nonlinear and Optimal Control Systems, John Wiley & Sons, New York.
170. Åström, K. J., and Hägglund, T., PID Controllers, 2nd ed., 1995, Instrument Society of America, Research Triangle Park, North Carolina.
171. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.
172. Fu, K. S., Gonzales, R. C., and Lee, C. S. G., 1987, Robotics, Control, Sensing, Vision and Intelligence, McGraw-Hill, New York.
173. Golnaraghi, F., and Kuo, B. C., 2009, Automatic Control Systems, John Wiley & Sons, New York.
174. Jamshidi, M., 2008, Systems of Systems Engineering: Principles and Applications, John Wiley & Sons, New York.
175. Lewis, F. L., and Syrmos, V. L., 1995, Optimal Control, John Wiley & Sons, New York.
176. Malek-Zavarei, M., Jamshidi, M., 1986, Linear Control Systems: A Computer Aided Approach, Pergamon Press, London, GB.
177. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
178. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.
179. Takegaki, M., and Arimoto, S., 1981, A new feedback method for dynamic control of manipulators, Transaction of the ASME, Journal of Dynamic Systems, Measurements, and Control, 102, 119-125.
180. Vincent T. L., and Grantham W. J., 1997, Nonlinear and Optimal Control Systems, John Wiley & Sons, New York.