ABOUT INERTIAL QUASI-VELOCITIES INTERPRETATION AND POSSIBLE APPLICATION

Przemysław Herman

References

  1. [1] D. Koditschek, Robot kinematics and coordinate transformations, Proceedings of the 24th IEEE Conference on Decision and Control, Ft.Lauderdale, FL, December 1985, 1–4.
  2. [2] A. Jain & G. Rodriguez, Diagonalized Lagrangian robot dynamics, IEEE Transactions on Robotics and Automation, 11(4), 1995, 571–584.
  3. [3] T.A. Loduha & B. Ravani, On first-order decoupling of equations of motion for constrained dynamical systems, Transactions of the ASME Journal of Applied Mechanics, 62(3), 1995, 216–222.
  4. [4] L. Sciavicco & B. Siciliano, Modeling and Control of Robot Manipulators (New York: McGraw-Hill, 1996).
  5. [5] J.J. Slotine & W. Li, Applied nonlinear control (Englewood Cliffs, New Jersey: Prentice-Hall, 1991).
  6. [6] P. Herman, Normalised-generalised-velocity-component-based controller for a rigid serial manipulator, IEE Proceedings – Control Theory & Applications, 152(5), 2005, 581–586.
  7. [7] P. Herman, On using generalized velocity components for manipulator dynamics and control, Mechanics Research Communications, 33(3), 2006, 281–291.
  8. [8] I.N. Bronsztein & K.A. Siemiendiaiev, Mathematical handbook (Moscow: Nauka Publishers, 1980) (in Russian).

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