Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

The following paper talks about the dynamic modeling and control of robot manipulators using Hamilton’s equations in the screw theory framework. The difference between the proposed work with diverse methods in the literature is the ease of obtaining the laws of control directly with screws and co-sc...

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Bibliographic Details
Main Authors: Jesús Alfonso Medrano-Hermosillo, Ricardo Lozoya-Ponce, Abraham Efraím Rodriguez-Mata, Rogelio Baray-Arana
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Mathematics
Subjects:
screw theory
geometric algebra
Hamilton’s equations
sliding mode control
Lyapunov theory
Online Access:https://www.mdpi.com/2227-7390/11/3/572

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