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—Numerical integration methods based on the Lie group theoretic geometrical approach are applied to articulated multibody systems with rigid body displacements, belonging to the special Euclidean group (3), as a part of generalized coordinates. Three Lie group integrators, the Crouch–Grossman method, commutator-free method, and Munthe–Kaas method, are(More)
— This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property as those conventional task priority based method. In order to deal with general situations of task specification, the so-called semi-definitely weighted(More)