A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints
A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a holonomic constraint is reinterpreted...
| Κύριοι συγγραφείς: | , , , |
|---|---|
| Μορφή: | Άρθρο |
| Γλώσσα: | English |
| Έκδοση: |
Hindawi Limited
2009-01-01
|
| Σειρά: | Journal of Robotics |
| Διαθέσιμο Online: | http://dx.doi.org/10.1155/2009/892801 |