Dynamics and control of underactuated manipulation systems: A discrete-time approach

Authors
Scherm, N Heimann, B
Citation
N. Scherm et B. Heimann, Dynamics and control of underactuated manipulation systems: A discrete-time approach, ROBOT AUT S, 30(3), 2000, pp. 237-248
Citations number
23
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICS AND AUTONOMOUS SYSTEMS
ISSN journal
09218890 → ACNP
Volume
30
Issue
3
Year of publication
2000
Pages
237 - 248
Database
ISI
SICI code
0921-8890(20000229)30:3<237:DACOUM>2.0.ZU;2-H
Abstract
This article contains a discussion on the application of nonlinear multi-ra te path planning and digital control methods to underactuated systems. Furt hermore, a discretization method based on sensitivity functions is proposed . (C) 2000 Elsevier Science B.V. All rights reserved.