Using chaos to obtain global solutions in computational kinematics

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2A-1996, Issue , 1996, Pages

  Jovanovic, Vojin T ^a   Kazerounian, Kazem ^b  

^a University of Connecticut ^*  (United States)

^b UNIVERSITY OF CONNECTICUT   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CHAOS THEORY; NONLINEAR EQUATIONS;

ALL SOLUTIONS; BASINS OF ATTRACTION; GLOBAL SOLUTIONS; IMPORTANT FEATURES; INITIAL CONDITIONS; SEARCH TECHNIQUE; SMALL SCALE;

FRACTALS;

EID: 85034460075     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/96-DETC/MECH-1193     Document Type: Conference Paper

References (9)

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3. Featherstone, R., 1987, Robot Dynamics Algorithms, Kluwer Academic Publishers, Boston.
4. Khatib, O., 1983, "Dynamic Control of Manipulators in Operational Space," Proc. 6th CISM-IFToMM Congress, pp. 1128-1131.
5. Khatib, O., 1987, "A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation," IEEE Journal of Roboiics and Au
6. Lilly, K.W., 1993, Efficient Dynamic Simulation of Robotic Mechanisms, Kluwer Academic Publishers.
7. Patterson, T., and Lipkin, H., 1993, "Structure of Robot Compliance," ASME Journal of Mechanical Design, vol. 115, Sept., pp. 576-580.
8. Rodriguez, G., 1987, "Kalman Filtering, Smoothing and Recursive Robot Arm Forward and Inverse Dynamics," IEEE Journal of Robotics and Automation, v.3, pp. 624-630
9. Rodriguez, G., Kreutz-Delgado, K., and Jain, A., "A spa-tial Operator Algebra for Manipulator Modeling and Con-trol," Int. J. of Robotics Research, v.10, pp. 371-381.