A Configuration Manifold Embedding Model for Dynamic Control of Redundant Robots

@article{Gu2000ACM,
  title={A Configuration Manifold Embedding Model for Dynamic Control of Redundant Robots},
  author={Edward Y. L. Gu},
  journal={I. J. Robotics Res.},
  year={2000},
  volume={19},
  pages={289-304}
}
This paper presents a configuration manifold embedding model that provides a new approach to dynamic model reduction and adaptive control of redundant robotic systems. The proposed model is developed based on a geometrical and topological analysis of configuration manifolds (C-manifolds) hidden behind every robotic dynamic system that commonly obeys the Lagrange equation. With a detailed study of the C-manifold immersion and embedding into Euclidean space, we show that for a redundant robotic… CONTINUE READING

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